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Plane: fixed tailsitter ANGLE_WAIT transition

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we need vtol control during transition from hover to fwd flight
This commit is contained in:
Andrew Tridgell 2017-10-30 08:47:04 +11:00
parent af893ddde7
commit 214434a2d7
1 changed files with 11 additions and 1 deletions
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12
ArduPlane/tailsitter.cpp
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@ -31,7 +31,17 @@ bool QuadPlane::is_tailsitter(void)
*/ */
bool QuadPlane::tailsitter_active(void) bool QuadPlane::tailsitter_active(void)
{ {
return is_tailsitter() && in_vtol_mode(); if (!is_tailsitter()) {
return false;
}
if (in_vtol_mode()) {
return true;
}
// check if we are in ANGLE_WAIT transition
if (transition_state == TRANSITION_ANGLE_WAIT) {
return true;
}
return false;
} }
/* /*