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Plane: fixed transitions for tailsitters after auto-takeoff 

need to use angle wait
This commit is contained in:
Andrew Tridgell 2017-11-19 16:05:01 +11:00
parent 85573b3ff3
commit f7a735b990
1 changed files with 6 additions and 1 deletions
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7
ArduPlane/quadplane.cpp
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@ -1250,6 +1250,11 @@ void QuadPlane::update_transition(void)
float aspeed; float aspeed;
bool have_airspeed = ahrs.airspeed_estimate(&aspeed); bool have_airspeed = ahrs.airspeed_estimate(&aspeed);
// tailsitters use angle wait, not airspeed wait
if (is_tailsitter() && transition_state == TRANSITION_AIRSPEED_WAIT) {
transition_state = TRANSITION_ANGLE_WAIT_FW;
}
/* /*
see if we should provide some assistance see if we should provide some assistance
*/ */
@ -2199,7 +2204,7 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
if (plane.current_loc.alt < plane.next_WP_loc.alt) { if (plane.current_loc.alt < plane.next_WP_loc.alt) {
return false; return false;
} }
transition_state = TRANSITION_AIRSPEED_WAIT; transition_state = is_tailsitter() ? TRANSITION_ANGLE_WAIT_FW : TRANSITION_AIRSPEED_WAIT;
plane.TECS_controller.set_pitch_max_limit(transition_pitch_max); plane.TECS_controller.set_pitch_max_limit(transition_pitch_max);
set_alt_target_current(); set_alt_target_current();