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Plane: fixed in_vtol logic so QRTL can AIRBRAKE

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This commit is contained in:
Andrew Tridgell 2022-01-31 14:13:14 +11:00
parent aab6c94936
commit 1bdc9b5bf8
1 changed files with 8 additions and 10 deletions
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18
ArduPlane/quadplane.cpp
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@ -2011,14 +2011,8 @@ bool QuadPlane::in_vtol_mode(void) const
if (!available()) {
return false;
}
if (plane.control_mode == &plane.mode_qrtl &&
(poscontrol.get_state() == QPOS_APPROACH ||
poscontrol.get_state() == QPOS_AIRBRAKE)) {
return false;
}
if (in_vtol_land_approach() &&
poscontrol.get_state() == QPOS_APPROACH) {
return false;
if (in_vtol_land_sequence()) {
return poscontrol.get_state() != QPOS_APPROACH;
}
if (plane.control_mode->is_vtol_mode()) {
return true;
@ -3597,7 +3591,11 @@ bool QuadPlane::in_vtol_land_approach(void) const
*/
bool QuadPlane::in_vtol_land_descent(void) const
{
if (((in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id)) || (plane.control_mode == &plane.mode_qrtl)) &&
if (plane.control_mode == &plane.mode_qrtl &&
(poscontrol.get_state() == QPOS_LAND_DESCEND || poscontrol.get_state() == QPOS_LAND_FINAL)) {
return true;
}
if (in_vtol_auto() && is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
(poscontrol.get_state() == QPOS_LAND_DESCEND || poscontrol.get_state() == QPOS_LAND_FINAL)) {
return true;
}
@ -3617,7 +3615,7 @@ bool QuadPlane::in_vtol_land_final(void) const
*/
bool QuadPlane::in_vtol_land_sequence(void) const
{
return in_vtol_land_approach() || in_vtol_land_descent() || in_vtol_land_final();
return plane.control_mode == &plane.mode_qrtl || in_vtol_land_approach() || in_vtol_land_descent() || in_vtol_land_final();
}
/*