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VTOL: reset quad-chute failsafe flag when user triggeres a new transition to FW 

This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-01-12 09:44:20 +01:00 committed by Roman Bapst
parent 8a680a3153
commit 2d4be68e00
4 changed files with 11 additions and 15 deletions
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5
src/modules/vtol_att_control/standard.cpp
View File

@ -78,11 +78,6 @@ void Standard::update_vtol_state()
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off

5
src/modules/vtol_att_control/tailsitter.cpp
View File

@ -75,11 +75,6 @@ void Tailsitter::update_vtol_state()
// Failsafe event, switch to MC mode immediately
_vtol_mode = vtol_mode::MC_MODE;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
switch (_vtol_mode) { // user switchig to MC mode

5
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -75,11 +75,6 @@ void Tiltrotor::update_vtol_state()
// Failsafe event, switch to MC mode immediately
_vtol_mode = vtol_mode::MC_MODE;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// plane is in multicopter mode

11
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -133,6 +133,12 @@ void VtolAttitudeControl::action_request_poll()
case action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING:
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_immediate_transition = false;
// reset vtol_transition_failsafe flag when a new transition to FW is triggered
if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
_vtol_vehicle_status.vtol_transition_failsafe = false;
}
break;
}
}
@ -162,6 +168,11 @@ void VtolAttitudeControl::vehicle_cmd_poll()
} else {
_transition_command = transition_command_param1;
_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? int(vehicle_command.param2 + 0.5f) : false;
// reset vtol_transition_failsafe flag when a new transition to FW is triggered
if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
_vtol_vehicle_status.vtol_transition_failsafe = false;
}
}
if (vehicle_command.from_external) {