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Do not apply back transition duration for QuadChute

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sander
2016-08-02 21:09:45 +02:00
committed by Andreas Antener
parent bae5416819
commit 45a4472a47
1 changed files with 11 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+11 -3
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@@ -146,9 +146,17 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == FW_MODE) {
// transition to mc mode
_vtol_schedule.flight_mode = TRANSITION_TO_MC;
_flag_enable_mc_motors = true;
_vtol_schedule.transition_start = hrt_absolute_time();
if (_vtol_vehicle_status->vtol_transition_failsafe == true){
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = MC_MODE;
_flag_enable_mc_motors = true;
} else {
// Regular backtransition
_vtol_schedule.flight_mode = TRANSITION_TO_MC;
_flag_enable_mc_motors = true;
_vtol_schedule.transition_start = hrt_absolute_time();
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// failsafe back to mc mode