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add VEHICLE_VTOL_STATE_QC and remove hardcoding

This commit is contained in:
Thomas 2021-02-03 14:35:45 +01:00 committed by Roman Bapst
parent d3ddbe8db5
commit bf9758247b
2 changed files with 2 additions and 3 deletions
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1
msg/vtol_vehicle_status.msg
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@ -4,6 +4,7 @@ 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)

4
src/modules/vtol_att_control/vtol_type.cpp
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@ -235,9 +235,7 @@ bool VtolType::can_transition_on_ground()
void VtolType::check_quadchute_condition()
{
//TODO: adapt https://mavlink.io/en/messages/common.html#MAV_VTOL_STATE to contain MAV_VTOL_STATE_QC
//instead of hardcoded 5.
if (_attc->get_transition_command() == 5 && !_quadchute_command_treated) {
if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_QC && !_quadchute_command_treated) {
_attc->quadchute("QuadChute by command");
_quadchute_command_treated = true;