Centralize yaw margin #23982
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Centralize yaw margin #23982
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bresch
approved these changes
Nov 20, 2024
JoelJ18
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to microstrain-robotics/PX4-Autopilot
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this pull request
Jan 27, 2025
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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.