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finish back transition when a mode change from manual to auto happens during the back transition

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This commit is contained in:
Andreas Antener
2016-09-13 14:32:00 +02:00
parent c6e4926d4e
commit 46105f735e
1 changed files with 7 additions and 0 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+7
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@@ -736,6 +736,13 @@ void VtolAttitudeControl::task_main()
} else if (_vtol_type->get_mode() == FIXED_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
/* We want to make sure that a mode change (manual>auto) during the back transition
* doesn't result in an unsafe state. This prevents the instant fall back to
* fixed-wing on the switch from manual to auto */
} else if (_vtol_type->get_mode() == TRANSITION_TO_MC) {
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
}
// check in which mode we are in and call mode specific functions