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added comment and fixed spelling mistake

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This commit is contained in:
TedObrien
2025-02-20 14:50:46 +01:00
committed by Matthias Grob
parent 5d69bfc31e
commit c1d655e7f9
1 changed files with 3 additions and 2 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+3 -2
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@@ -106,12 +106,13 @@ void ActuatorEffectivenessHelicopter::updateParams()
param_get(_param_handles.max_servo_throw, &max_servo_throw_deg);
if (max_servo_throw_deg > 0.f){
//linearization feature enabled
const float max_servo_throw = math::radians(max_servo_throw_deg);
_geometry.max_servo_height = sinf(max_servo_throw);
_geometry.inverse_max_servo_throw = 1.f / max_servo_throw;
_geometry.linearize_servos = 1;
} else {
// handle any undefined behaviour
// handle any undefined behaviour if disabled
_geometry.max_servo_height = 0.f;
_geometry.inverse_max_servo_throw = 0.f;
_geometry.linearize_servos = 0;
@@ -183,7 +184,7 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
- control_sp(ControlAxis::ROLL) * roll_coeff
+ _geometry.swash_plate_servos[i].trim;
// Apply linearzsation to the actuator setpoint if enabled
// Apply linearization to the actuator setpoint if enabled
if (_geometry.linearize_servos) {
actuator_sp(_first_swash_plate_servo_index + i) = getLinearServoOutput(actuator_sp(_first_swash_plate_servo_index + i));
}