Centralize yaw margin (#23982)

PX4 · Nov 20, 2024 · 3943025 · 3943025
1 parent b891961
commit 3943025
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
@@ -219,7 +219,7 @@ ControlAllocationSequentialDesaturation::mixYaw()
 	// Change yaw acceleration to unsaturate the outputs if needed (do not change roll/pitch),
 	// and allow some yaw response at maximum thrust
 	ActuatorVector max_prev = _actuator_max;
-	_actuator_max += (_actuator_max - _actuator_min) * 0.15f;
+	_actuator_max += (_actuator_max - _actuator_min) * MINIMUM_YAW_MARGIN;
 	desaturateActuators(_actuator_sp, yaw);
 	_actuator_max = max_prev;
 

diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.hpp
@@ -57,6 +57,10 @@ class ControlAllocationSequentialDesaturation: public ControlAllocationPseudoInv
 	void allocate() override;
 
 	void updateParameters() override;
+
+	// This is the minimum actuator yaw granted when the controller is saturated.
+	// In the yaw-only case where outputs are saturated, thrust is reduced by up to this amount.
+	static constexpr float MINIMUM_YAW_MARGIN{0.15f};
 private:
 
 	/**