From 257d4e473bcd3c675d1128cc15856f1457c4bc50 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Tue, 13 Dec 2022 12:38:38 +0300 Subject: [PATCH] fixed tailsitter transitions (#20756) Signed-off-by: RomanBapst --- src/modules/vtol_att_control/tailsitter.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index 8d1da15249..f7707c65ec 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -174,6 +174,8 @@ void Tailsitter::update_vtol_state() void Tailsitter::update_transition_state() { + VtolType::update_transition_state(); + const hrt_abstime now = hrt_absolute_time(); // we need the incoming (virtual) mc attitude setpoints to be recent, otherwise return (means the previous setpoint stays active)