From 34717f7005675e8fea7def742def44eb9c24f19d Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Tue, 5 Feb 2019 16:09:48 +0100 Subject: [PATCH] Merge pull request #11288 from PX4/pr-tiltrotor_noairspeed_transition_check tiltrotor: fix transition check when airspeed is invalid --- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 6d51be4d73..c4ca73e774 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -149,7 +149,7 @@ void Tiltrotor::update_vtol_state() // check if airspeed is invalid and transition by time transition_to_p2 |= _params->airspeed_disabled && - _tilt_control > _params_tiltrotor.tilt_transition && + _tilt_control >= _params_tiltrotor.tilt_transition && time_since_trans_start > _params->front_trans_time_openloop; if (transition_to_p2) {