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VTOL: introduce new quad-chute check for altitude loss during front transition

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By default the threshold is set to 10m.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-19 09:36:09 +01:00
parent 98705ced2f
commit 36dc75bedf
7 changed files with 56 additions and 30 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+3 -3
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@@ -83,7 +83,7 @@ void Tiltrotor::update_vtol_state()
break;
case vtol_mode::FW_MODE:
resetTransitionTimer();
resetTransitionStates();
_vtol_mode = vtol_mode::TRANSITION_BACK;
break;
@@ -126,7 +126,7 @@ void Tiltrotor::update_vtol_state()
switch (_vtol_mode) {
case vtol_mode::MC_MODE:
// initialise a front transition
resetTransitionTimer();
resetTransitionStates();
_vtol_mode = vtol_mode::TRANSITION_FRONT_P1;
break;
@@ -154,7 +154,7 @@ void Tiltrotor::update_vtol_state()
if (transition_to_p2) {
_vtol_mode = vtol_mode::TRANSITION_FRONT_P2;
resetTransitionTimer();
resetTransitionStates();
}
break;