From 2ef9c4ec35e261fbb83f6840e80a9c91f768ef38 Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Thu, 1 Mar 2018 22:51:50 +0100 Subject: [PATCH] VTOL force land even when transitioning to FW (#8958) --- src/modules/navigator/navigator.h | 2 +- src/modules/navigator/navigator_main.cpp | 8 ++++++++ src/modules/vtol_att_control/vtol_att_control_params.c | 2 +- 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 42395c37a3..9c5a843286 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -260,7 +260,7 @@ public: float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss.get(); } float get_vtol_reverse_delay() const { return _param_reverse_delay.get(); } - bool force_vtol() const { return _vstatus.is_vtol && !_vstatus.is_rotary_wing && _param_force_vtol.get(); } + bool force_vtol(); private: diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 2c7f059310..9651f48c03 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1099,6 +1099,14 @@ Navigator::abort_landing() return should_abort; } +bool +Navigator::force_vtol() +{ + return _vstatus.is_vtol && + (!_vstatus.is_rotary_wing || _vstatus.in_transition_to_fw) + && _param_force_vtol.get(); +} + static void usage() { PX4_INFO("usage: navigator {start|stop|status|fencefile}"); diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 65ec471026..8e98761d79 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -209,7 +209,7 @@ PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f); * * @unit s * @min 0.0 - * @max 10.0 + * @max 20.0 * @group VTOL Attitude Control */ PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);