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Plane: remove tailsitter VTOL transition race condition

This commit is contained in:
Iampete1 2020-10-30 23:26:00 +00:00 committed by Andrew Tridgell
parent 5f67f8130b
commit 2d80dcd937
3 changed files with 17 additions and 7 deletions
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6
ArduPlane/Attitude.cpp
View File

@ -377,7 +377,8 @@ void Plane::stabilize()
}
float speed_scaler = get_speed_scaler();
if (quadplane.in_tailsitter_vtol_transition()) {
uint32_t now = AP_HAL::millis();
if (quadplane.in_tailsitter_vtol_transition(now)) {
/*
during transition to vtol in a tailsitter try to raise the
nose rapidly while keeping the wings level
@ -386,7 +387,6 @@ void Plane::stabilize()
nav_roll_cd = 0;
}
uint32_t now = AP_HAL::millis();
if (now - last_stabilize_ms > 2000) {
// if we haven't run the rate controllers for 2 seconds then
// reset the integrators
@ -411,7 +411,7 @@ void Plane::stabilize()
control_mode == &mode_qrtl ||
control_mode == &mode_qacro ||
control_mode == &mode_qautotune) &&
!quadplane.in_tailsitter_vtol_transition()) {
!quadplane.in_tailsitter_vtol_transition(now)) {
quadplane.control_run();
} else {
if (g.stick_mixing == STICK_MIXING_FBW && control_mode != &mode_stabilize) {

4
ArduPlane/quadplane.h
View File

@ -83,8 +83,8 @@ public:
/*
return true if we are a tailsitter transitioning to VTOL flight
*/
bool in_tailsitter_vtol_transition(void) const;
bool in_tailsitter_vtol_transition(uint32_t now = 0) const;
bool handle_do_vtol_transition(enum MAV_VTOL_STATE state);
bool do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);

14
ArduPlane/tailsitter.cpp
View File

@ -262,9 +262,19 @@ void QuadPlane::tailsitter_check_input(void)
/*
return true if we are a tailsitter transitioning to VTOL flight
*/
bool QuadPlane::in_tailsitter_vtol_transition(void) const
bool QuadPlane::in_tailsitter_vtol_transition(uint32_t now) const
{
return is_tailsitter() && in_vtol_mode() && transition_state == TRANSITION_ANGLE_WAIT_VTOL;
if (!is_tailsitter() || !in_vtol_mode()) {
return false;
}
if (transition_state == TRANSITION_ANGLE_WAIT_VTOL) {
return true;
}
if ((now != 0) && ((now - last_vtol_mode_ms) > 1000)) {
// only just come out of forward flight
return true;
}
return false;
}
/*