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CA: add event for setting CENTER with TRIM

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-11-26 17:19:01 +01:00
parent 9577f20875
commit f92937aecd
1 changed files with 7 additions and 2 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
+7 -2
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@@ -32,6 +32,7 @@
****************************************************************************/
#include <px4_platform_common/log.h>
#include <px4_platform_common/events.h>
#include "ActuatorEffectivenessControlSurfaces.hpp"
@@ -121,8 +122,12 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
// If PWM center is set and CA_SV_CS trim is non-zero, warn and reset to 0
if (pwm_center_set && fabsf(_params[i].trim) > FLT_EPSILON) {
PX4_WARN("CA_SV_CS%d_TRIM (%.3f) should be 0 when PWM CENTER is used. Resetting to 0.",
i, (double)_params[i].trim);
/* EVENT
* @description Display warning in GCS when TRIM settings were present and now CENTER are set.
*/
events::send<uint8_t, float>(events::ID("control_surfaces_reset_trim"), events::Log::Warning,
"CA_SV_CS{1}_TRIM ({2}) is reset to 0 as PWM CENTER is used", i, _params[i].trim);
_params[i].trim = 0.0f;
// Update the parameter storage
param_set(_param_handles[i].trim, &_params[i].trim);