From d6a86dfa56fc2d7ed566b0c065262acd1af91878 Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Tue, 3 Apr 2018 10:07:06 +0200
Subject: [PATCH] tailsitter: do not condition transition on airspeed if
airspeed disabled
Signed-off-by: Roman <bapstroman@gmail.com>
---
src/modules/vtol_att_control/tailsitter.cpp | 17 ++++++++++-------
1 file changed, 10 insertions(+), 7 deletions(-)
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 7a73bc23d1..f3af043a5f 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -130,15 +130,18 @@ void Tailsitter::update_vtol_state()
case FW_MODE:
break;
- case TRANSITION_FRONT_P1:
+ case TRANSITION_FRONT_P1: {
- // check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
- if ((_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed
- && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
- _vtol_schedule.flight_mode = FW_MODE;
- }
+ bool airspeed_condition_satisfied = _airspeed->indicated_airspeed_m_s >= _params->transition_airspeed;
+ airspeed_condition_satisfied |= _params->airspeed_disabled;
- break;
+ // check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
+ if ((airspeed_condition_satisfied && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
+ _vtol_schedule.flight_mode = FW_MODE;
+ }
+
+ break;
+ }
case TRANSITION_BACK:
// failsafe into fixed wing mode
--
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