From c1a9ab46b9ad23bd1eae85136fb9778d58bd7823 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Mon, 16 Mar 2026 08:54:37 +0100
Subject: [PATCH] fix(control_allocator): fix confusion between decision
 thresholds

The previous version classified a vector as poinging along axis i if
component i is above 0.5 and other components are below 0.1. This was
erroneously swapped when refactoring.
---
 .../ActuatorEffectivenessRotors.cpp                         | 5 ++---
 .../ActuatorEffectivenessRotors.hpp                         | 6 ++++++
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index 1669236b34..765d0dba47 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -265,15 +265,14 @@ ActuatorBitmask ActuatorEffectivenessRotors::getMotors() const
 	return motors;
 }
 
-// Helper to check if a vector is primarily aligned with a specific axis index
 bool ActuatorEffectivenessRotors::isAlignedWithAxis(const Vector3f &axis_abs, int primary_idx)
 {
 	for (int i = 0; i < 3; ++i) {
 		if (i == primary_idx) {
-			if (axis_abs(i) <= MAX_AXIS_NEGLIGIBLE) { return false; }
+			if (axis_abs(i) < MIN_AXIS_DOMINANT) { return false; }
 
 		} else {
-			if (axis_abs(i) >= MIN_AXIS_DOMINANT) { return false; }
+			if (axis_abs(i) > MAX_AXIS_NEGLIGIBLE) { return false; }
 		}
 	}
 
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
index 23198cea67..7ab4268809 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessRotors.hpp
@@ -141,6 +141,12 @@ private:
 	const AxisConfiguration _axis_config;
 	const bool _tilt_support; ///< if true, tilt servo assignment params are loaded
 
+
+	/**
+	 * Helper to check if a unit vector is primarily aligned with a specific axis index, meaning:
+	 *   | component along that axis | >= MIN_AXIS_DOMINANT
+	 *   | component along other axes | <= MAX_AXIS_NEGLIGIBLE
+	 */
 	bool isAlignedWithAxis(const Vector3f &axis_abs, int primary_idx);
 
 	struct ParamHandles {