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VTOL: reset quad-chute failsafe flag when user triggeres a new transition to FW

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This failsafe flag is currently used for not allowing to re-transition to FW, as well
as disabling pusher assist in hover. Till now it was only possible to reset it with
a commanded transition to MC, which many ground station interfaces didn't allow
as the system, after a quad-chute, already was in MC mode.
Hereby it is changed to reset when a new transition to FW is triggered (either via
RC switch or MAVLink command). It is the users responsibility to assess the situation
after a quad-chute happened to try to transition to FW again, manually proceed/land
the vehicle in MC, or let it finish the defined behavior after a quad-chute.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-13 19:02:21 +03:00
committed by Roman Bapst
parent 8a680a3153
commit 2d4be68e00
4 changed files with 11 additions and 15 deletions
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src/modules/vtol_att_control/standard.cpp
-5
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@@ -78,11 +78,6 @@ void Standard::update_vtol_state()
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off