From 749e0b6b737fcf660c15e977b4da872d13f53ba5 Mon Sep 17 00:00:00 2001 From: thomas Date: Mon, 28 Nov 2022 18:04:22 +0100 Subject: [PATCH] use spoilers also in NAVIGATION_STATE_DESCEND --- src/modules/vtol_att_control/vtol_att_control_main.h | 1 + src/modules/vtol_att_control/vtol_type.cpp | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 2c96f3a385..85741faaab 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -152,6 +152,7 @@ public: struct vehicle_torque_setpoint_s *get_torque_setpoint_1() {return &_torque_setpoint_1;} struct vehicle_thrust_setpoint_s *get_thrust_setpoint_0() {return &_thrust_setpoint_0;} struct vehicle_thrust_setpoint_s *get_thrust_setpoint_1() {return &_thrust_setpoint_1;} + struct vehicle_status_s *get_vehicle_status() {return &_vehicle_status;} struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;} private: diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 2c8e7e4265..2502cb6bb8 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -109,8 +109,9 @@ void VtolType::update_mc_state() float spoiler_setpoint_hover = 0.f; - if (_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { + if ((_attc->get_pos_sp_triplet()->current.valid + && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) + || _attc->get_vehicle_status()->nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND) { spoiler_setpoint_hover = _param_vt_spoiler_mc_ld.get(); }