From ab10e68a40bf659e659d00443acd8a9d11a96c65 Mon Sep 17 00:00:00 2001
From: Thomas <thomas@rigi.tech>
Date: Fri, 9 Apr 2021 17:50:09 +0200
Subject: [PATCH] update Quadchute trigger from mavlink PR 1569

---
 msg/vtol_vehicle_status.msg                            | 1 -
 src/modules/vtol_att_control/vtol_att_control_main.cpp | 1 +
 src/modules/vtol_att_control/vtol_att_control_main.h   | 3 +++
 src/modules/vtol_att_control/vtol_type.cpp             | 8 ++++----
 src/modules/vtol_att_control/vtol_type.h               | 1 -
 5 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/msg/vtol_vehicle_status.msg b/msg/vtol_vehicle_status.msg
index 48d87fd702..7bc79768b5 100644
--- a/msg/vtol_vehicle_status.msg
+++ b/msg/vtol_vehicle_status.msg
@@ -4,7 +4,6 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
-uint8 VEHICLE_VTOL_STATE_QC = 5
 
 uint64 timestamp			# time since system start (microseconds)
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 0cf205742f..88978c53e8 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -160,6 +160,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
 
 			} else {
 				_transition_command = int(vehicle_command.param1 + 0.5f);
+				_immediate_transition = int(vehicle_command.param2 + 0.5f);
 			}
 
 			if (vehicle_command.from_external) {
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index d0dc23b427..46c8455858 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -109,6 +109,8 @@ public:
 	bool is_fixed_wing_requested();
 	void quadchute(const char *reason);
 	int get_transition_command() {return _transition_command;}
+	bool get_immediate_transition() {return _immediate_transition;}
+	void reset_immediate_transition() {_immediate_transition = false;}
 
 	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
 	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
@@ -222,6 +224,7 @@ private:
 	 * for fixed wings we want to have an idle speed of zero since we do not want
 	 * to waste energy when gliding. */
 	int		_transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
+	bool		_immediate_transition{false};
 
 	VtolType	*_vtol_type{nullptr};	// base class for different vtol types
 
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 2f17c703d6..cebc96b382 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -235,16 +235,16 @@ bool VtolType::can_transition_on_ground()
 
 void VtolType::check_quadchute_condition()
 {
-	if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_QC && !_quadchute_command_treated) {
-		_attc->quadchute("QuadChute by command");
+	if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC && _attc->get_immediate_transition()
+	    && !_quadchute_command_treated) {
+		_attc->quadchute("QuadChute by external command");
 		_quadchute_command_treated = true;
+		_attc->reset_immediate_transition();
 
 	} else {
 		_quadchute_command_treated = false;
 	}
 
-
-
 	if (!_tecs_running) {
 		// reset the filtered height rate and heigh rate setpoint if TECS is not running
 		_ra_hrate = 0.0f;
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 7334611298..64bd48f128 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -250,7 +250,6 @@ protected:
 	bool _quadchute_command_treated = 0;
 
 
-
 	/**
 	 * @brief      Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures
 	 *             that they are spinning in mc mode.