use optimal recovery strategy for tailsitters

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -122,6 +122,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config

cmake/configs/posix_eagle_default.cmake

@@ -40,6 +40,7 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 
 	platforms/common
 	platforms/posix/px4_layer

cmake/configs/qurt_eagle_hil.cmake

@@ -49,6 +49,7 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 	modules/controllib
 
 	#

cmake/configs/qurt_eagle_release.cmake

@@ -72,6 +72,7 @@ set(config_module_list
 	lib/conversion
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 
 	#
 	# QuRT port

cmake/configs/qurt_eagle_travis.cmake

@@ -54,6 +54,7 @@ set(config_module_list
 	lib/ecl
 	lib/terrain_estimation
 	lib/runway_takeoff
+	lib/tailsitter_recovery
 
 	#
 	# QuRT port

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -387,9 +387,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 
 	/* fetch initial parameter values */
 	parameters_update();
-	vehicle_status_poll();
 
-	if (_vehicle_status.is_vtol && _params.vtol_type == 0) {
+	if (_params.vtol_type == 0) {
 		// the vehicle is a tailsitter, use optimal recovery control strategy
 		_ts_opt_recovery = new TailsitterRecovery();
 	}
@@ -835,6 +834,8 @@ MulticopterAttitudeControl::task_main()
 					control_attitude(dt);
 
 				} else {
+					vehicle_attitude_setpoint_poll();
+					_thrust_sp = _v_att_sp.thrust;
 					math::Quaternion q(_ctrl_state.q[0], _ctrl_state.q[1], _ctrl_state.q[2], _ctrl_state.q[3]);
 					math::Quaternion q_sp(&_v_att_sp.q_d[0]);
 					_ts_opt_recovery->setAttGains(_params.att_p, _params.yaw_ff);