From d70a6726f4ec606a71cfaa5141758dc8943f25c0 Mon Sep 17 00:00:00 2001 From: TedObrien Date: Thu, 9 Jan 2025 14:49:56 +0000 Subject: [PATCH] fix formatting --- .../ActuatorEffectivenessHelicopter.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp index 2ed9f22d06..3be0808d2c 100644 --- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp +++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp @@ -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; } }