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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/tiltrotor.cpp
+3 -3
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@@ -208,7 +208,7 @@ void Tiltrotor::update_vtol_state()
// check if we have reached airspeed to switch to fw mode
// also allow switch if we are not armed for the sake of bench testing
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
_vtol_schedule.transition_start = hrt_absolute_time();
}
@@ -309,7 +309,7 @@ void Tiltrotor::update_transition_state()
}
// do blending of mc and fw controls
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 0.0f;
} else {
@@ -320,7 +320,7 @@ void Tiltrotor::update_transition_state()
// disable mc yaw control once the plane has picked up speed
_mc_yaw_weight = 1.0f;
if (_airspeed->true_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
}