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Sanity check and quadchute during front transition

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This commit is contained in:
sander
2016-06-07 19:52:25 +02:00
committed by Roman
parent ec15130a80
commit 7cea813d55
1 changed files with 13 additions and 2 deletions
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src/modules/vtol_att_control/standard.cpp
+13 -2
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@@ -262,6 +262,14 @@ void Standard::update_transition_state()
}
}
// quadchute
if(_params_standard.fw_minimum_altitude > FLT_EPSILON){
if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
}
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_dur > 0.0f) {
@@ -366,8 +374,11 @@ void Standard::update_fw_state()
_flag_enable_mc_motors = true;
}
if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
// quadchute
if(_params_standard.fw_minimum_altitude > FLT_EPSILON){
if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
}
}
}