From ad42a5b2f9257f0f81609425d8ccda1d27580de9 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Mon, 17 Feb 2025 17:46:39 +0100
Subject: [PATCH] preflight check: more self explanatory code

---
 src/modules/control_allocator/ControlAllocator.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index e40075a84f..89bc97aecd 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -502,16 +502,18 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
 
 	// for now, no collective tilt if tiltrotor. will need to look a bit different.
 
-	int max_phase = 3 * 2;
 
 	// is this the proper way to do it?
 	// bool tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
 	bool tiltrotor = dynamic_cast<ActuatorEffectivenessTiltrotorVTOL*>(_actuator_effectiveness) != nullptr;
 
+	int n_axes = 3;
 	if (tiltrotor) {
-		max_phase = 4 * 2;
+		n_axes = 4;
 	}
 
+	int max_phase = 2 * n_axes;
+
 	hrt_abstime now = hrt_absolute_time();
 	if (now - _last_preflight_check_update >= 500_ms) {
 		_preflight_check_phase++;