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plane: quadplane: tailsitter: run FW transition check and assist immediately

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Iampete1 2021-08-19 00:35:17 +01:00 committed by Andrew Tridgell
parent 970d0ea2a3
commit 700a92f036
1 changed files with 3 additions and 2 deletions
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5
ArduPlane/quadplane.cpp
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@ -1789,7 +1789,7 @@ void QuadPlane::update(void)
// output to motors // output to motors
motors_output(); motors_output();
if (now - last_vtol_mode_ms > 1000 && tailsitter.enabled()) { if (tailsitter.enabled() && (now - last_vtol_mode_ms) > 1000) {
/* /*
we are just entering a VTOL mode as a tailsitter, set we are just entering a VTOL mode as a tailsitter, set
our transition state so the fixed wing controller brings our transition state so the fixed wing controller brings
@ -1799,7 +1799,8 @@ void QuadPlane::update(void)
transition_state = TRANSITION_ANGLE_WAIT_VTOL; transition_state = TRANSITION_ANGLE_WAIT_VTOL;
transition_start_ms = now; transition_start_ms = now;
transition_initial_pitch = constrain_float(ahrs.pitch_sensor,-8500,8500); transition_initial_pitch = constrain_float(ahrs.pitch_sensor,-8500,8500);
} else if (tailsitter.enabled() && }
if (tailsitter.enabled() &&
transition_state == TRANSITION_ANGLE_WAIT_VTOL) { transition_state == TRANSITION_ANGLE_WAIT_VTOL) {
float aspeed; float aspeed;
bool have_airspeed = ahrs.airspeed_estimate(aspeed); bool have_airspeed = ahrs.airspeed_estimate(aspeed);