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vtol_vehicle_status: replace several status bools by single vehicle_vtol_state

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Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 10:01:04 +02:00
parent 635f64a2e5
commit 2b7efeacca
6 changed files with 45 additions and 38 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+2 -1
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@@ -513,7 +513,8 @@ void AirspeedModule::update_wind_estimator_sideslip()
// update wind and airspeed estimator
_wind_estimator_sideslip.update(_time_now_usec);
if (_vehicle_local_position_valid && !_vtol_vehicle_status.vtol_in_rw_mode) {
if (_vehicle_local_position_valid
&& _vtol_vehicle_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
Vector3f vI(_vehicle_local_position.vx, _vehicle_local_position.vy, _vehicle_local_position.vz);
Quatf q(_vehicle_attitude.q);