From 212ec821b15434ec8716d0916dc7332879c3b3bd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 14 Aug 2020 09:55:48 +0200 Subject: [PATCH] control_allocator: set unused actuators to trim instead of min --- .../control_allocator/ControlAllocation/ControlAllocation.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp index eb2653db8f..9fac9f55c8 100644 --- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp +++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp @@ -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); } }