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VTOL: fix transition quadchute below home

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-04-21 14:29:27 +02:00
committed by bresch
parent b17f73584d
commit 473be910f2
1 changed files with 1 additions and 8 deletions
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src/modules/vtol_att_control/vtol_type.cpp
+1 -8
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@@ -303,14 +303,7 @@ bool VtolType::isFrontTransitionAltitudeLoss()
if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW && _local_pos->z_valid) {
if (_local_pos->z <= FLT_EPSILON) {
// vehilce is above home
result = _local_pos->z - _local_position_z_start_of_transition > _param_vt_qc_t_alt_loss.get();
} else {
// vehilce is below home
result = _local_position_z_start_of_transition - _local_pos->z > _param_vt_qc_t_alt_loss.get();
}
result = _local_pos->z - _local_position_z_start_of_transition > _param_vt_qc_t_alt_loss.get();
}
return result;