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vtol: allow switch to fw mode without airspeed reading to facilitate bench testing

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tumbili
2015-11-17 09:14:40 +01:00
parent ee2ce77c82
commit 2b50297c2e
2 changed files with 3 additions and 2 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -1
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@@ -154,7 +154,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans) {
if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;