HelicopterCoaxial: only publish unallocated thrust in the saturation …

…case
PX4 · Sep 14, 2023 · 25beab9 · 25beab9
1 parent 64280b4
commit 25beab9
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/...odules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp b/...odules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
@@ -185,26 +185,38 @@ void ActuatorEffectivenessHelicopterCoaxial::getUnallocatedControl(int matrix_in
 
 	} else if (_saturation_flags.roll_neg) {
 		status.unallocated_torque[0] = -1.f;
+
+	} else {
+		status.unallocated_torque[0] = 0.f;
 	}
 
 	if (_saturation_flags.pitch_pos) {
 		status.unallocated_torque[1] = 1.f;
 
 	} else if (_saturation_flags.pitch_neg) {
 		status.unallocated_torque[1] = -1.f;
+
+	} else {
+		status.unallocated_torque[1] = 0.f;
 	}
 
 	if (_saturation_flags.yaw_pos) {
 		status.unallocated_torque[2] = 1.f;
 
 	} else if (_saturation_flags.yaw_neg) {
 		status.unallocated_torque[2] = -1.f;
+
+	} else {
+		status.unallocated_torque[2] = 0.f;
 	}
 
 	if (_saturation_flags.thrust_pos) {
 		status.unallocated_thrust[2] = 1.f;
 
 	} else if (_saturation_flags.thrust_neg) {
 		status.unallocated_thrust[2] = -1.f;
+
+	} else {
+		status.unallocated_torque[2] = 0.f;
 	}
 }