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Plane: add check for vectored tailsitter in tailsitter_transition_vtol_complete

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Mark Whitehorn 2020-12-01 08:10:40 -07:00 committed by Andrew Tridgell
parent 7446a9c33c
commit 9bf89e5635
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/tailsitter.cpp
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@ -243,6 +243,14 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
// transition immediately
return true;
}
// for vectored tailsitters at zero pilot throttle
if ((plane.quadplane.get_pilot_throttle() < .05f) && plane.quadplane._is_vectored) {
// if we are not moving (hence on the ground?) or don't know
// transition immediately to tilt motors up and prevent prop strikes
if (ahrs.groundspeed() < 1.0f) {
return true;
}
}
if (labs(plane.ahrs.pitch_sensor) > tailsitter.transition_angle*100 ||
labs(plane.ahrs.roll_sensor) > tailsitter.transition_angle*100 ||
AP_HAL::millis() - transition_start_ms > 2000) {