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consider transition command for the correct state

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This commit is contained in:
Andreas Antener
2016-02-10 18:36:38 +01:00
parent d5eae460c0
commit 5b8b445425
3 changed files with 9 additions and 6 deletions
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src/lib/ecl
+1 -1
Submodule src/lib/ecl updated: b21a49b3f9...0a9f7e58db
src/modules/vtol_att_control/vtol_att_control_main.cpp
+7 -5
View File
@@ -43,6 +43,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
* @author Sander Smeets <sander@droneslab.com>
* @author Andreas Antener <andreas@uaventure.com>
*
*/
#include "vtol_att_control_main.h"
@@ -428,13 +429,14 @@ VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = _manual_control_sp.aux1 > 0.0f;
if (_v_control_mode.flag_control_offboard_enabled || _v_control_mode.flag_control_auto_enabled) {
// listen to transition commands if not in manual
if (!_v_control_mode.flag_control_manual_enabled) {
to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
}
// handle abort request
if(_abort_front_transition) {
if(to_fw) {
if (_abort_front_transition) {
if (to_fw) {
to_fw = false;
} else {
// the state changed to mc mode, reset the abort request
@@ -666,8 +668,8 @@ void VtolAttitudeControl::task_main()
// update the vtol state machine which decides which mode we are in
_vtol_type->update_vtol_state();
// reset transition command if not in offboard control
if (!_v_control_mode.flag_control_offboard_enabled) {
// reset transition command if not auto control
if (_v_control_mode.flag_control_manual_enabled) {
if (_vtol_type->get_mode() == ROTARY_WING) {
_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
src/modules/vtol_att_control/vtol_att_control_main.h
+1
View File
@@ -43,6 +43,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
* @author Sander Smeets <sander@droneslab.com>
* @author Andreas Antener <andreas@uaventure.com>
*
*/
#ifndef VTOL_ATT_CONTROL_MAIN_H