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vtol_att_control: use airspeed_disabled flag instead of airspeed mode

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent 8f71633516
commit 6900f97b72
3 changed files with 5 additions and 4 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -190,7 +190,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params->airspeed_mode == 1 ||
if (((_params->airspeed_disabled ||
_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) &&
time_since_trans_start > _params->front_trans_time_min * 1e6f) ||
can_transition_on_ground()) {
@@ -260,7 +260,7 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_params->airspeed_mode == 1 &&
} else if (_params->airspeed_disabled &&
time_since_trans_start < _params->front_trans_time_min * 1e6f &&
time_since_trans_start > _params->front_trans_time_min * 1e6f / 2.0f) {
mc_weight = 1.0f - ((time_since_trans_start - _params->front_trans_time_min * 1e6f / 2.0f) /