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Plane: initialise target height correctly on quadplane transition

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this fixes a bug where a plane in QSTABILIZE would drop suddenly if
switched to FBWA when the target altitude had not been initialised
This commit is contained in:
Andrew Tridgell 2017-03-22 21:34:40 +11:00
parent 1a781f44cc
commit af97a3974b
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/quadplane.cpp
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@ -1112,6 +1112,12 @@ void QuadPlane::update_transition(void)
}
transition_state = TRANSITION_AIRSPEED_WAIT;
transition_start_ms = millis();
if (!assisted_flight) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
pos_control->set_alt_target(inertial_nav.get_altitude());
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
assisted_flight = true;
} else {
assisted_flight = false;