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Plane: smoother transitions to auto from VTOL takeoff

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This commit is contained in:
Andrew Tridgell 2016-01-01 21:57:31 +11:00
parent 418464ab8c
commit fdd86c10ba
1 changed files with 5 additions and 4 deletions
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9
ArduPlane/quadplane.cpp
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@ -642,6 +642,9 @@ void QuadPlane::update_transition(void)
transition_start_ms = millis();
transition_state = TRANSITION_TIMER;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition airspeed reached %.1f", aspeed);
} else if (plane.auto_throttle_mode) {
// force pitch to zero while building up airspeed
plane.nav_pitch_cd = 0;
}
assisted_flight = true;
hold_hover(assist_climb_rate_cms());
@ -888,8 +891,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
if (!available()) {
return false;
}
plane.prev_WP_loc = plane.current_loc;
plane.next_WP_loc = cmd.content.location;
plane.set_next_WP(cmd.content.location);
plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
throttle_wait = false;
@ -907,8 +909,7 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
if (!available()) {
return false;
}
plane.prev_WP_loc = plane.current_loc;
plane.next_WP_loc = cmd.content.location;
plane.set_next_WP(cmd.content.location);
throttle_wait = false;
land_complete = false;