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Plane: tailsitter: increase severity level of failed transisisons.

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Iampete1 2021-06-05 12:30:04 +01:00 committed by Andrew Tridgell
parent 30029f59db
commit 438ca0a6c4
1 changed files with 4 additions and 4 deletions
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8
ArduPlane/tailsitter.cpp
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@ -248,11 +248,11 @@ bool QuadPlane::tailsitter_transition_fw_complete(void)
return true; return true;
} }
if (labs(ahrs_view->roll_sensor) > MAX(4500, plane.roll_limit_cd + 500)) { if (labs(ahrs_view->roll_sensor) > MAX(4500, plane.roll_limit_cd + 500)) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition FW done, roll error"); gcs().send_text(MAV_SEVERITY_WARNING, "Transition FW done, roll error");
return true; return true;
} }
if (AP_HAL::millis() - transition_start_ms > ((tailsitter.transition_angle_fw+(transition_initial_pitch*0.01f))/tailsitter.transition_rate_fw)*1500) { if (AP_HAL::millis() - transition_start_ms > ((tailsitter.transition_angle_fw+(transition_initial_pitch*0.01f))/tailsitter.transition_rate_fw)*1500) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition FW done, timeout"); gcs().send_text(MAV_SEVERITY_WARNING, "Transition FW done, timeout");
return true; return true;
} }
// still waiting // still waiting
@ -291,11 +291,11 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
roll_cd = 18000 - roll_cd; roll_cd = 18000 - roll_cd;
} }
if (roll_cd > MAX(4500, plane.roll_limit_cd + 500)) { if (roll_cd > MAX(4500, plane.roll_limit_cd + 500)) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done, roll error"); gcs().send_text(MAV_SEVERITY_WARNING, "Transition VTOL done, roll error");
return true; return true;
} }
if (AP_HAL::millis() - transition_start_ms > ((trans_angle-(transition_initial_pitch*0.01f))/tailsitter.transition_rate_vtol)*1500) { if (AP_HAL::millis() - transition_start_ms > ((trans_angle-(transition_initial_pitch*0.01f))/tailsitter.transition_rate_vtol)*1500) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done, timeout"); gcs().send_text(MAV_SEVERITY_WARNING, "Transition VTOL done, timeout");
return true; return true;
} }
// still waiting // still waiting