mirror of https://github.com/ArduPilot/ardupilot
Plane: fixed a bug in Q_ASSIST_ modes for tiltrotors
when a tilt-rotor drops below Q_ASSIST_SPEED we need to keep it in the airspeed wait state until it has regained airspeed, otherwise we will end up with too low throttle
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@ -1247,8 +1247,10 @@ void QuadPlane::update_transition(void)
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}
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}
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// if rotors are fully forward then we are not transitioning
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if (tiltrotor_fully_fwd()) {
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// if rotors are fully forward then we are not transitioning,
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// unless we are waiting for airspeed to increase (in which case
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// the tilt till decrease rapidly)
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if (tiltrotor_fully_fwd() && transition_state != TRANSITION_AIRSPEED_WAIT) {
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transition_state = TRANSITION_DONE;
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}
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