Fix Helicopter saturation logic #22147
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This became necessary otherwise the allocation reports saturation all the time and the rate integrator doesn't work.
MaEtUgR
changed the title
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Note that I already added it for the coaxial heli in #22083 |
bkueng
approved these changes
Sep 28, 2023
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
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This became necessary otherwise
the allocation reports saturation all
the time and the rate integrator doesn't work.
Solved Problem
When using a helicopter on the latest version I found that the integrator doesn't have any effect. The issue seems to be the same as was fixed for tiltrotors in #21994 I'm looking for the original change that made this necessary.
Solution
Handle the unsaturated case explicitly and report 0 unallocated torque in that case.
Changelog Entry
For release notes:
Test coverage
After this change it was working like expected again, tested on a real helicopter.
Context
Before
After