VTOL: abort front transition early if airspeed doesn't go above blending speed (#24521)

vtol_type: timeout transition earlier if we use airspeed and airspeed has
not increased above blend airspeed after openloop front transition time.

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -147,7 +147,7 @@ PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
 /**
  * Front transition timeout
  *
- * Time in seconds after which transition will be cancelled. Disabled if set to 0.
+ * Time in seconds after which transition will be cancelled.
  *
  * @unit s
  * @min 0.1
@@ -273,6 +273,8 @@ PARAM_DEFINE_INT32(VT_FW_QC_HMAX, 0);
  * Airspeed-less front transition time (open loop)
  *
  * The duration of the front transition when there is no airspeed feedback available.
+ * When airspeed is used, transition timeout is declared if airspeed does not
+ * reach VT_ARSP_BLEND after this time.
  *
  * @unit s
  * @min 1.0

src/modules/vtol_att_control/vtol_type.cpp

@@ -329,10 +329,13 @@ bool VtolType::isRollExceeded()
 bool VtolType::isFrontTransitionTimeout()
 {
 	// check front transition timeout
-	if (getFrontTransitionTimeout()  > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW) {
+	if (_common_vtol_mode == mode::TRANSITION_TO_FW) {
+		// when we use airspeed, we can timeout earlier if airspeed is not increasing fast enough
+		if (_param_fw_use_airspd.get() && _time_since_trans_start > getOpenLoopFrontTransitionTime()
+		    && _airspeed_validated->calibrated_airspeed_m_s < getBlendAirspeed()) {
+			return true;
 
-		if (_time_since_trans_start > getFrontTransitionTimeout()) {
-			// transition timeout occured, abort transition
+		} else if (_time_since_trans_start > getFrontTransitionTimeout()) {
 			return true;
 		}
 	}