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use new method for instant transition in tailsitter

This commit is contained in:
Andreas Antener 2016-05-11 15:56:56 +02:00 committed by Lorenz Meier
parent 05f1da8c4a
commit 1a66155d8a
1 changed files with 1 additions and 1 deletions
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2
src/modules/vtol_att_control/tailsitter.cpp
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@ -180,7 +180,7 @@ void Tailsitter::update_vtol_state()
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode // check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) { && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
_vtol_schedule.flight_mode = FW_MODE; _vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time(); //_vtol_schedule.transition_start = hrt_absolute_time();
} }