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use new method for instant transition in tiltrotor

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Andreas Antener
2016-05-11 17:29:50 +02:00
committed by Lorenz Meier
parent 1a66155d8a
commit 6ebb2079e0
1 changed files with 1 additions and 1 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+1 -1
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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->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();
}