control_allocator: set unused actuators to trim instead of min

5 years ago · 212ec821b1
1 changed files with 2 additions and 2 deletions
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
@ -52,9 +52,9 @@ ControlAllocation::setEffectivenessMatrix(
				@@ -52,9 +52,9 @@ ControlAllocation::setEffectivenessMatrix(
 	_control_trim = _effectiveness * _actuator_trim;
 	_num_actuators = num_actuators;

-	// make sure unused actuators are initialized to min
+	// make sure unused actuators are initialized to trim
 	for (int i = num_actuators; i < NUM_ACTUATORS; ++i) {
-		_actuator_sp(i) = _actuator_min(i);
+		_actuator_sp(i) = _actuator_trim(i);
 	}
 }