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fix(control_allcoator): actually use the defined constants

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Balduin
2026-03-10 16:28:29 +01:00
parent 083abb5824
commit b42e294655
2 changed files with 3 additions and 3 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+2 -2
View File
@@ -270,10 +270,10 @@ bool ActuatorEffectivenessRotors::isAlignedWithAxis(const Vector3f &axis_abs, in
{
for (int i = 0; i < 3; ++i) {
if (i == primary_idx) {
if (axis_abs(i) <= 0.1f) { return false; }
if (axis_abs(i) <= MAX_AXIS_NEGLIGIBLE) { return false; }
} else {
if (axis_abs(i) >= 0.5f) { return false; }
if (axis_abs(i) >= MIN_AXIS_DOMINANT) { return false; }
}
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+1 -1
View File
@@ -55,7 +55,7 @@ using namespace matrix;
using ActuatorBitmask = ActuatorEffectiveness::ActuatorBitmask;
static constexpr float MIN_AXIS_DOMINANT = 0.5f;
static constexpr float MAX_AXIS_NEGLIGIBLE = 0.5f;
static constexpr float MAX_AXIS_NEGLIGIBLE = 0.1f;
class ActuatorEffectivenessRotors : public ModuleParams, public ActuatorEffectiveness
{