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vtol_att_control: Consolidate logic for front transiton completion (#21107)

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* vtol_att_control: consolidate logic for front transiton completion

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* addressed review comments

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2023-02-24 15:52:27 +03:00
committed by GitHub
parent 4259b5adac
commit 33b54f7c57
7 changed files with 64 additions and 57 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -19
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@@ -135,26 +135,8 @@ void Standard::update_vtol_state()
mc_weight = 0.0f;
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get();
const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime();
bool transition_to_fw = false;
if (minimum_trans_time_elapsed) {
if (airspeed_triggers_transition) {
transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get();
} else {
transition_to_fw = true;
}
}
transition_to_fw |= can_transition_on_ground();
if (transition_to_fw) {
if (isFrontTransitionCompleted()) {
_vtol_mode = vtol_mode::FW_MODE;
// don't set pusher throttle here as it's being ramped up elsewhere