From 6ebb2079e03fe44788824329c9bb2531bd28e738 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 11 May 2016 15:58:23 +0200 Subject: [PATCH] use new method for instant transition in tiltrotor --- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 9adcb6a9ff..7cb5ea26e9 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -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->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) { + if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || can_transition_on_ground()) { _vtol_schedule.flight_mode = TRANSITION_FRONT_P2; _vtol_schedule.transition_start = hrt_absolute_time(); }