From 1617997dde35cdfc66335599157e4a61e647dad7 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 9 Dec 2019 14:22:25 +0100 Subject: [PATCH] VTOL: instantly do VTOL mode changes if landed and disarmed Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/standard.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 99bf2c851e..9822a2cd25 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -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; }