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plane: quadplane: skip QPOS_POSITION1 on tailsitters

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Iampete1 2021-06-11 09:23:15 +01:00 committed by Andrew Tridgell
parent c01fbc658b
commit e3a38bdc51
1 changed files with 17 additions and 0 deletions
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17
ArduPlane/quadplane.cpp
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@ -2783,6 +2783,18 @@ void QuadPlane::vtol_position_controller(void)
case QPOS_POSITION1: { case QPOS_POSITION1: {
setup_target_position(); setup_target_position();
if (is_tailsitter()) {
if (in_tailsitter_vtol_transition()) {
break;
}
poscontrol.set_state(QPOS_POSITION2);
poscontrol.pilot_correction_done = false;
gcs().send_text(MAV_SEVERITY_INFO,"VTOL position2 started v=%.1f d=%.1f",
(double)ahrs.groundspeed(), (double)plane.auto_state.wp_distance);
break;
}
const Vector2f diff_wp = plane.current_loc.get_distance_NE(loc); const Vector2f diff_wp = plane.current_loc.get_distance_NE(loc);
const float distance = diff_wp.length(); const float distance = diff_wp.length();
@ -2956,6 +2968,11 @@ void QuadPlane::vtol_position_controller(void)
} }
break; break;
case QPOS_POSITION1: case QPOS_POSITION1:
if (in_tailsitter_vtol_transition()) {
pos_control->relax_z_controller(0);
break;
}
FALLTHROUGH;
case QPOS_POSITION2: { case QPOS_POSITION2: {
bool vtol_loiter_auto = false; bool vtol_loiter_auto = false;
if (plane.control_mode == &plane.mode_auto) { if (plane.control_mode == &plane.mode_auto) {