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ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix

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Just to be on the safe side.
This commit is contained in:
Beat Küng
2020-08-14 09:56:49 +02:00
committed by Daniel Agar
parent 212ec821b1
commit c36340d29a
1 changed files with 2 additions and 0 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
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@@ -145,6 +145,8 @@ ActuatorEffectivenessMultirotor::computeEffectivenessMatrix(const MultirotorGeom
{ {
int num_actuators = 0; int num_actuators = 0;
effectiveness.setZero();
for (size_t i = 0; i < NUM_ROTORS_MAX; i++) { for (size_t i = 0; i < NUM_ROTORS_MAX; i++) {
// Get rotor axis // Get rotor axis
matrix::Vector3f axis( matrix::Vector3f axis(