From 579d420db1c9088f611ecac77758b326b71ab007 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 3 Aug 2016 13:56:07 +0200 Subject: [PATCH] VTOL: enable MC motors after instant back transition --- src/modules/vtol_att_control/standard.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 694317785d..312ccc7734 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -324,6 +324,13 @@ void Standard::update_mc_state() { VtolType::update_mc_state(); + // enable MC motors here in case we transitioned directly to MC mode + if (_flag_enable_mc_motors) { + set_max_mc(2000); + set_idle_mc(); + _flag_enable_mc_motors = false; + } + // if the thrust scale param is zero then the pusher-for-pitch strategy is disabled and we can return if (_params_standard.forward_thrust_scale < FLT_EPSILON) { return;