fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix formatting

Browse Source
This commit is contained in:
TedObrien 2025-01-09 14:49:56 +00:00 committed by Matthias Grob
parent 8445795935
commit d70a6726f4
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
View File

@ -105,16 +105,17 @@ void ActuatorEffectivenessHelicopter::updateParams()
float max_servo_throw_deg = 0.f;
param_get(_param_handles.max_servo_throw, &max_servo_throw_deg);
if (max_servo_throw_deg > 0.f){
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 if disabled
_geometry.max_servo_height = 0.f;
_geometry.inverse_max_servo_throw = 0.f;
_geometry.max_servo_height = 0.f;
_geometry.inverse_max_servo_throw = 0.f;
_geometry.linearize_servos = 0;
}
}