VTOL: use the same logic for front transition complete in all vtol types

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/vtol_att_control/standard.cpp

@@ -361,3 +361,9 @@ void Standard::blendThrottleAfterFrontTransition(float scale)
 	const float tecs_throttle = _v_att_sp->thrust_body[0];
 	_v_att_sp->thrust_body[0] = scale * tecs_throttle + (1.0f - scale) * _pusher_throttle;
 }
+
+bool Standard::isFrontTransitionCompleted()
+{
+	// no customization required, just use base from vtol_type
+	return VtolType::isFrontTransitionCompletedBase();
+}

src/modules/vtol_att_control/standard.h

@@ -79,6 +79,7 @@ private:
 	hrt_abstime _last_time_pusher_transition_update{0};
 
 	void parameters_update() override;
+	bool isFrontTransitionCompleted();
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
 					(ParamFloat<px4::params::VT_PSHER_SLEW>) _param_vt_psher_slew,

src/modules/vtol_att_control/tailsitter.cpp

@@ -310,23 +310,10 @@ void Tailsitter::fill_actuator_outputs()
 	}
 }
 
-
-bool Tailsitter::isFrontTransitionCompletedBase()
+bool Tailsitter::isFrontTransitionCompleted()
 {
-	const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
-			&& _param_fw_use_airspd.get();
-
-	bool transition_to_fw = false;
+	// tailsitter only: add check pitch angle
 	const float pitch = Eulerf(Quatf(_v_att->q)).theta();
 
-	if (pitch <= PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW) {
-		if (airspeed_triggers_transition) {
-			transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get() ;
-
-		} else {
-			transition_to_fw = true;
-		}
-	}
-
-	return transition_to_fw;
+	return VtolType::isFrontTransitionCompletedBase() && pitch <= PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW;
 }

src/modules/vtol_att_control/tailsitter.h

@@ -85,7 +85,7 @@ private:
 
 	void parameters_update() override;
 
-	bool isFrontTransitionCompletedBase() override;
+	bool isFrontTransitionCompleted();
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
 					(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off

src/modules/vtol_att_control/tiltrotor.cpp

@@ -426,7 +426,8 @@ float Tiltrotor::moveLinear(float start, float stop, float progress)
 	return start + progress * (stop - start);
 }
 
-bool Tiltrotor::isFrontTransitionCompletedBase()
+bool Tiltrotor::isFrontTransitionCompleted()
 {
-	return VtolType::isFrontTransitionCompletedBase() && _tilt_control >= _param_vt_tilt_trans.get();
+	// tiltrotor only: add check on tilt control
+	return (VtolType::isFrontTransitionCompletedBase() && _tilt_control >= _param_vt_tilt_trans.get());
 }

src/modules/vtol_att_control/tiltrotor.h

@@ -89,8 +89,7 @@ private:
 	float moveLinear(float start, float stop, float progress);
 
 	void blendThrottleDuringBacktransition(const float scale, const float target_throttle);
-	bool isFrontTransitionCompletedBase() override;
-
+	bool isFrontTransitionCompleted();
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
 					(ParamFloat<px4::params::VT_TILT_MC>) _param_vt_tilt_mc,

src/modules/vtol_att_control/vtol_type.cpp

@@ -197,13 +197,6 @@ float VtolType::update_and_get_backtransition_pitch_sp()
 	return math::constrain(pitch_sp_new, 0.f, pitch_lim);
 }
 
-bool VtolType::isFrontTransitionCompleted()
-{
-	bool ret = isFrontTransitionCompletedBase();
-
-	return ret || can_transition_on_ground();
-}
-
 bool VtolType::isFrontTransitionCompletedBase()
 {
 	// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
@@ -222,8 +215,7 @@ bool VtolType::isFrontTransitionCompletedBase()
 		transition_to_fw = openloop_trans_time_elapsed;
 	}
 
-	return transition_to_fw;
-
+	return (transition_to_fw || can_transition_on_ground());
 }
 
 bool VtolType::can_transition_on_ground()

src/modules/vtol_att_control/vtol_type.h

@@ -317,8 +317,8 @@ protected:
 	bool _quadchute_command_treated{false};
 
 	float update_and_get_backtransition_pitch_sp();
-	bool isFrontTransitionCompleted();
-	virtual bool isFrontTransitionCompletedBase();
+	bool isFrontTransitionCompletedBase();
+	virtual bool isFrontTransitionCompleted() = 0;
 
 	float _local_position_z_start_of_transition{0.f}; // altitude at start of transition