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tiltrotor: add transition timeout (abort transition after VT_TRANS_TIMEOUT, Quadchute)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-05 18:19:33 -04:00
committed by Daniel Agar
parent 02aed782e3
commit 1a1bb2629d
1 changed files with 9 additions and 1 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+9 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2015 PX4 Development Team. All rights reserved. * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -182,6 +182,14 @@ void Tiltrotor::update_vtol_state()
_vtol_schedule.transition_start = hrt_absolute_time(); _vtol_schedule.transition_start = hrt_absolute_time();
} }
// check front transition timeout
if (_params->front_trans_timeout > FLT_EPSILON) {
if (time_since_trans_start > _params->front_trans_timeout) {
// transition timeout occured, abort transition
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
}
}
break; break;
} }