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temporarily use indicated airspeed for transitions so we're consistent with tecs until we move tecs to true airspeed

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This commit is contained in:
Andreas Antener
2016-02-18 18:55:56 +01:00
committed by Lorenz Meier
parent 228a54fd51
commit 6eb2e62306
3 changed files with 11 additions and 11 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -164,7 +164,7 @@ 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 (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
if (_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;
@@ -212,8 +212,8 @@ void Standard::update_transition_state()
}
// do blending of mc and fw controls if a blending airspeed has been provided
if (_airspeed_trans_blend_margin > 0.0f && _airspeed->true_airspeed_m_s >= _params_standard.airspeed_blend) {
float weight = 1.0f - fabsf(_airspeed->true_airspeed_m_s - _params_standard.airspeed_blend) /
if (_airspeed_trans_blend_margin > 0.0f && _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend) {
float weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params_standard.airspeed_blend) /
_airspeed_trans_blend_margin;
_mc_roll_weight = weight;
_mc_pitch_weight = weight;