From 97a280d41dcfe163942a9207a45878601dd4aa8a Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Tue, 1 Feb 2022 10:14:59 +0100
Subject: [PATCH] CA: Tiltrotor: set tilts to exactly -1 or 1 if close to these
 end points

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 .../ActuatorEffectivenessTiltrotorVTOL.cpp                    | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
index 3bba746965..3504913102 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
@@ -111,6 +111,10 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
 		if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
 			float control_tilt = actuator_controls_1.control[4] * 2.f - 1.f;
 
+			// set control_tilt to exactly -1 or 1 if close to these end points
+			control_tilt = control_tilt < -0.99f ? -1.f : control_tilt;
+			control_tilt = control_tilt > 0.99f ? 1.f : control_tilt;
+
 			// initialize _last_tilt_control
 			if (!PX4_ISFINITE(_last_tilt_control)) {
 				_last_tilt_control = control_tilt;