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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
This commit is contained in:
Andrew Tridgell 2018-09-13 20:57:10 +10:00
parent 6213852fa6
commit 58a363c643
1 changed files with 4 additions and 2 deletions
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6
ArduPlane/quadplane.cpp
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@ -1247,8 +1247,10 @@ void QuadPlane::update_transition(void)
} }
} }
// if rotors are fully forward then we are not transitioning // if rotors are fully forward then we are not transitioning,
if (tiltrotor_fully_fwd()) { // unless we are waiting for airspeed to increase (in which case
// the tilt till decrease rapidly)
if (tiltrotor_fully_fwd() && transition_state != TRANSITION_AIRSPEED_WAIT) {
transition_state = TRANSITION_DONE; transition_state = TRANSITION_DONE;
} }