ActuatorEffectiveness: add comment for 2% magic number to stop motors

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Aug 17, 2023 · eaad11b · eaad11b
1 parent 0914e7f
commit eaad11b
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectiveness.cpp
@@ -91,6 +91,8 @@ void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_mo
 		const uint32_t motor_mask = (1u << actuator_idx);
 
 		if (stoppable_motors_mask & motor_mask) {
+
+			// Stop motor if its setpoint is below 2%. This value was determined empirically (RC stick inaccuracy)
 			if (fabsf(actuator_sp(actuator_idx)) < .02f) {
 				_stopped_motors_mask |= motor_mask;