ActuatorEffectivenessHelicopter: explicitly handle unsaturated case

This became necessary otherwise the allocation reports saturation all the time and the rate integrator doesn't work.
PX4 · Dec 12, 2023 · 968089b · 968089b
1 parent 43ba199
commit 968089b
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
@@ -229,26 +229,38 @@ void ActuatorEffectivenessHelicopter::getUnallocatedControl(int matrix_index, co
 
 	} 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_thrust[2] = 0.f;
 	}
 }