added single point to decide if we need quadchute, let the reason be passed from the source where we know what's going on

src/modules/vtol_att_control/standard.cpp

@@ -285,7 +285,7 @@ void Standard::update_transition_state()
 		if (_params_standard.front_trans_timeout > FLT_EPSILON) {
 			if ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
 				// transition timeout occured, abort transition
-				_attc->abort_front_transition();
+				_attc->abort_front_transition("Transition timeout");
 			}
 		}
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -510,10 +510,10 @@ VtolAttitudeControl::is_fixed_wing_requested()
  * Abort front transition
  */
 void
-VtolAttitudeControl::abort_front_transition()
+VtolAttitudeControl::abort_front_transition(char *reason)
 {
-	if (!_abort_front_transition) {
-		mavlink_log_critical(&_mavlink_log_pub, "Transition timeout or FW min alt occured, aborting");
+	if(!_abort_front_transition) {
+		mavlink_log_critical(&_mavlink_log_pub, "Abort: %s", reason);
 		_abort_front_transition = true;
 		_vtol_vehicle_status.vtol_transition_failsafe = true;
 	}

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -110,7 +110,7 @@ public:
 
 	int start();	/* start the task and return OK on success */
 	bool is_fixed_wing_requested();
-	void abort_front_transition();
+	void abort_front_transition(char *reason);
 
 	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
 	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_att_sp;}

src/modules/vtol_att_control/vtol_type.cpp

@@ -180,27 +180,25 @@ void VtolType::update_fw_state()
 		waiting_on_tecs();
 	}
 
-	// quadchute
-	if (_params->fw_min_alt > FLT_EPSILON && _armed->armed) {
-		if (-(_local_pos->z) < _params->fw_min_alt) {
-			_attc->abort_front_transition();
-		}
-	}
-
+	check_quadchute_condition();
 }
 
 void VtolType::update_transition_state()
 {
-	// quadchute
-	if (_params->fw_min_alt > FLT_EPSILON && _armed->armed) {
-		if (-(_local_pos->z) < _params->fw_min_alt) {
-			_attc->abort_front_transition();
-		}
-	}
-
+	check_quadchute_condition();
 }
 
 bool VtolType::can_transition_on_ground()
 {
 	return !_armed->armed || _land_detected->landed;
 }
+
+void VtolType::check_quadchute_condition()
+{
+	// fixed-wing minimum altitude
+	if(_params->fw_min_alt > FLT_EPSILON && _armed->armed){
+		if(-(_local_pos->z) < _params->fw_min_alt){
+			_attc->abort_front_transition("Minimum altitude");
+		}
+	}
+}

src/modules/vtol_att_control/vtol_type.h

@@ -123,6 +123,11 @@ public:
 	 */
 	virtual void waiting_on_tecs() {};
 
+	/**
+	 * Checks for fixed-wing failsafe condition and issues abort request if needed.
+	 */
+	void check_quadchute_condition();
+
 	/**
 	 * Returns true if we're allowed to do a mode transition on the ground.
 	 */