Variable linearization_point - where is it assigned, what is it doing?

PX4 Autopilot System Architecture 🏗
1

Hi all,

I am currently re-engineering the PX4 autopilot for a FW drone in Simulink. I am struggling with the linearization_point variable in the ControlAllocator.cpp (line 529 in PX4 v1.13.2):

_control_allocation[i]->setEffectivenessMatrix(config.effectiveness_matrices[i], config.trim[i],
					config.linearization_point[i], total_num_actuators, reason == EffectivenessUpdateReason::CONFIGURATION_UPDATE);

Where is this variable assigned in the code? I cant see any assignement or any relation to geometry file or PX4 parameters.

Any help would be highly apprciated.