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Plane: tailsitter forward transition bugfix

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Mark Whitehorn 2019-01-21 15:38:07 -07:00 committed by Andrew Tridgell
parent e7dcee0dd8
commit 5c81a78c9c
1 changed files with 1 additions and 1 deletions
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ArduPlane/quadplane.cpp
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@ -1423,7 +1423,7 @@ void QuadPlane::update_transition(void)
// millisecond. Assume we want to get to the transition angle
// in half the transition time
float transition_rate = tailsitter.transition_angle / float(transition_time_ms/2);
uint32_t dt = now - transition_low_airspeed_ms;
uint32_t dt = now - transition_start_ms;
plane.nav_pitch_cd = constrain_float((-transition_rate * dt)*100, -8500, 0);
plane.nav_roll_cd = 0;
check_attitude_relax();