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Centralize yaw margin #23982

Merged
merged 8 commits into from
Nov 20, 2024
Merged

Centralize yaw margin #23982

merged 8 commits into from
Nov 20, 2024

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somebody-once-told-me
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@somebody-once-told-me somebody-once-told-me commented Nov 19, 2024 •
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Solved Problem

Desaturation logic has a magic number for thrust margin to sacrifice for yaw in the event of saturation.

Solution

Add a static constexpr definition for the magic number.

@somebody-once-told-me somebody-once-told-me marked this pull request as ready for review November 20, 2024 03:47
@dagar dagar requested a review from MaEtUgR November 20, 2024 03:54
@bresch bresch merged commit 3943025 into PX4:main Nov 20, 2024
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MaEtUgR
MaEtUgR reviewed Nov 20, 2024
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Makes sense 👍
Reminds me I should finish #22706 🙈

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@MaEtUgR MaEtUgR MaEtUgR left review comments

@bresch bresch bresch approved these changes

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@somebody-once-told-me @MaEtUgR @bresch