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prevent instant transition to fixed-wing while already in back transition, prevents unsafe flying state

This commit is contained in:
Andreas Antener 2016-08-15 08:56:03 +02:00
parent 670697b0ac
commit c6e4926d4e
1 changed files with 3 additions and 4 deletions
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7
src/modules/vtol_att_control/standard.cpp
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@ -180,8 +180,10 @@ void Standard::update_vtol_state()
} else {
// the transition to fw mode switch is on
if (_vtol_schedule.flight_mode == MC_MODE) {
if (_vtol_schedule.flight_mode == MC_MODE || _vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// start transition to fw mode
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
* unsafe flying state. */
_vtol_schedule.flight_mode = TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();
@ -207,9 +209,6 @@ void Standard::update_vtol_state()
_trans_finished_ts = hrt_absolute_time();
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// transitioning to mc mode & transition switch on - failsafe back into fw mode
_vtol_schedule.flight_mode = FW_MODE;
}
}