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VTOL: instantly do VTOL mode changes if landed and disarmed

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2019-12-09 14:22:25 +01:00
committed by Daniel Agar
parent d6ffdc09b8
commit 1617997dde
1 changed files with 2 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -1
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@@ -159,7 +159,8 @@ void Standard::update_vtol_state()
float x_vel = vel(0);
if (time_since_trans_start > _params->back_trans_duration ||
(_local_pos->v_xy_valid && x_vel <= _params->mpc_xy_cruise)) {
(_local_pos->v_xy_valid && x_vel <= _params->mpc_xy_cruise) ||
can_transition_on_ground()) {
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
}