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Plane: Quadplane: tailsitter only change view once transision is complete

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Iampete1 2020-09-25 22:16:38 +01:00 committed by Andrew Tridgell
parent b61cf72b8c
commit f972d3dc2f
4 changed files with 23 additions and 2 deletions
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2
ArduPlane/GCS_Mavlink.cpp
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@ -123,7 +123,7 @@ void GCS_MAVLINK_Plane::send_attitude() const
float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f); float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f);
float y = ahrs.yaw; float y = ahrs.yaw;
if (plane.quadplane.in_vtol_mode()) { if (plane.quadplane.show_vtol_view()) {
r = plane.quadplane.ahrs_view->roll; r = plane.quadplane.ahrs_view->roll;
p = plane.quadplane.ahrs_view->pitch; p = plane.quadplane.ahrs_view->pitch;
y = plane.quadplane.ahrs_view->yaw; y = plane.quadplane.ahrs_view->yaw;

2
ArduPlane/Log.cpp
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@ -17,7 +17,7 @@ void Plane::Log_Write_Attitude(void)
targets.z = 0; targets.z = 0;
} }
if (quadplane.tailsitter_active() || quadplane.in_vtol_mode()) { if (quadplane.show_vtol_view()) {
// we need the attitude targets from the AC_AttitudeControl controller, as they // we need the attitude targets from the AC_AttitudeControl controller, as they
// account for the acceleration limits. // account for the acceleration limits.
// Also, for bodyframe roll input types, _attitude_target_euler_angle is not maintained // Also, for bodyframe roll input types, _attitude_target_euler_angle is not maintained

20
ArduPlane/quadplane.cpp
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@ -3380,3 +3380,23 @@ bool QuadPlane::in_vtol_land_sequence(void) const
{ {
return in_vtol_land_approach() || in_vtol_land_descent() || in_vtol_land_final(); return in_vtol_land_approach() || in_vtol_land_descent() || in_vtol_land_final();
} }
// return true if we should show VTOL view
bool QuadPlane::show_vtol_view() const
{
bool show_vtol = in_vtol_mode();
if (is_tailsitter() && hal.util->get_soft_armed()) {
if (show_vtol && (transition_state == TRANSITION_ANGLE_WAIT_VTOL)) {
// in a vtol mode but still transitioning from forward flight
return false;
}
if (!show_vtol && (transition_state == TRANSITION_ANGLE_WAIT_FW)) {
// not in VTOL mode but still transitioning from VTOL
return true;
}
}
return show_vtol;
}

1
ArduPlane/quadplane.h
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@ -95,6 +95,7 @@ public:
bool in_vtol_mode(void) const; bool in_vtol_mode(void) const;
bool in_vtol_posvel_mode(void) const; bool in_vtol_posvel_mode(void) const;
void update_throttle_hover(); void update_throttle_hover();
bool show_vtol_view() const;
// vtol help for is_flying() // vtol help for is_flying()
bool is_flying(void); bool is_flying(void);