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tiltrotor: allow to finish transition if groundspeed is below cruise speed 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-05-19 14:24:03 +03:00 committed by Roman Bapst
parent 842d98d572
commit fd18ba6496
1 changed files with 5 additions and 2 deletions
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7
src/modules/vtol_att_control/tiltrotor.cpp
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@ -123,9 +123,12 @@ void Tiltrotor::update_vtol_state()
break;
case vtol_mode::TRANSITION_BACK:
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
const float ground_speed = sqrtf(_local_pos->vx * _local_pos->vx + _local_pos->vy * _local_pos->vy);
const bool ground_speed_below_cruise = _local_pos->v_xy_valid && (ground_speed <= _params->mpc_xy_cruise);
if (_tilt_control <= _params_tiltrotor.tilt_mc && time_since_trans_start > _params->back_trans_duration) {
if (_tilt_control <= _params_tiltrotor.tilt_mc && (time_since_trans_start > _params->back_trans_duration
|| ground_speed_below_cruise)) {
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
}