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Plane: tailsitter: fix Qassist back - transision

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Iampete1 2020-11-16 17:28:31 +00:00 committed by Andrew Tridgell
parent c03de6bdbe
commit f480f4e946
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/tailsitter.cpp
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@ -114,7 +114,8 @@ void QuadPlane::tailsitter_output(void)
// handle Copter controller
// the MultiCopter rate controller has already been run in an earlier call
// to motors_output() from quadplane.update(), unless we are in assisted flight
if (assisted_flight && is_tailsitter_in_fw_flight()) {
// tailsitter in TRANSITION_ANGLE_WAIT_FW is not really in assisted flight, its still in a VTOL mode
if (assisted_flight && (transition_state != TRANSITION_ANGLE_WAIT_FW)) {
hold_stabilize(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * 0.01f);
motors_output(true);