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ActuatorEffectiveness: add comment for 2% magic number to stop motors

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer 2023-08-17 10:02:48 +02:00 committed by Matthias Grob
parent 0914e7feaa
commit eaad11bb74
1 changed files with 2 additions and 0 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp
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@ -91,6 +91,8 @@ void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_mo
const uint32_t motor_mask = (1u << actuator_idx);
if (stoppable_motors_mask & motor_mask) {
// Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy)
if (fabsf(actuator_sp(actuator_idx)) < .02f) {
_stopped_motors_mask |= motor_mask;