From 233d901934a4ef09867b428363ef8bda841062f2 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 11 Apr 2023 15:19:18 +0200 Subject: [PATCH] VTOL: align setting of _tecs_running_ts on all VTOL types Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tailsitter.cpp | 1 + src/modules/vtol_att_control/tiltrotor.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index df62b63ae1..7c7c4d4202 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -115,6 +115,7 @@ void Tailsitter::update_vtol_state() if (isFrontTransitionCompleted()) { _vtol_mode = vtol_mode::FW_MODE; + _trans_finished_ts = hrt_absolute_time(); } break; diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 0285e61ea6..3be203dd59 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -134,6 +134,7 @@ void Tiltrotor::update_vtol_state() case vtol_mode::TRANSITION_FRONT_P1: { if (isFrontTransitionCompleted()) { _vtol_mode = vtol_mode::TRANSITION_FRONT_P2; + _trans_finished_ts = hrt_absolute_time(); resetTransitionStates(); }