hello there.
I’m reading the code base and learning from it. i just realized that the Plane::roll_limit_cd variable is always being set in function Plane::ahrs_update with the highest priority, and with quadPlane mode disabled, it will be set to
roll_limit_cd = aparm.roll_limit*100*ahrs.cos_pitch();
but i just realized that it will also being changed in the function Plane::update_load_factor (in Plane/Attitude.cpp file). the function is called whenever the nav_roll_cd is calculated, so it will constrain the navigation roll in some cases. i understand that update_load_factor is crucial, but after limiting nav_roll_cd it will change Plane::roll_limit_cd and according to my understanding of the code base, the high priority of ahrs_update will ignore it and always when Plane::calc_nav_roll() is called, the roll_limit_cd that is calculated inside ahrs_update will be applied.
why is that? is there some thing that I’m missing?