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Plane: fixed EKF fly-forward flag for tailsitters

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for tailsitters that are always using the VTOL controllers (forced
QAssist) we need a different way to determine the fly-forward flag
This commit is contained in:
Andrew Tridgell 2021-08-16 16:19:08 +10:00
parent 8e62385d8d
commit 497a7c9819
1 changed files with 4 additions and 1 deletions
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ArduPlane/ArduPlane.cpp
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@ -430,7 +430,10 @@ void Plane::update_control_mode(void)
// ensure we are fly-forward when we are flying as a pure fixed
// wing aircraft. This helps the EKF produce better state
// estimates as it can make stronger assumptions
if (quadplane.in_vtol_mode() ||
if (quadplane.available() &&
quadplane.tailsitter.is_in_fw_flight()) {
ahrs.set_fly_forward(true);
} else if (quadplane.in_vtol_mode() ||
quadplane.in_assisted_flight()) {
ahrs.set_fly_forward(false);
} else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {