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VTOL: only run front transition alt loss QC if altitude is controlled 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-04-21 14:54:18 +02:00
parent c1d94c7f05
commit 06713cb655
1 changed files with 3 additions and 3 deletions
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6
src/modules/vtol_att_control/vtol_type.cpp
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@ -301,9 +301,9 @@ bool VtolType::isFrontTransitionAltitudeLoss()
{
bool result = false;
// only run if param set, altitude estimate valid and in transition to FW or within 5s of finishing it.
if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && (_common_vtol_mode == mode::TRANSITION_TO_FW
|| hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
// only run if param set, altitude valid and controlled, and in transition to FW or within 5s of finishing it.
if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && _v_control_mode->flag_control_altitude_enabled
&& (_common_vtol_mode == mode::TRANSITION_TO_FW || hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
result = _local_pos->z - _local_position_z_start_of_transition > _param_vt_qc_t_alt_loss.get();
}