From 7cea813d55107f5d3905400ac426876e84a31f7d Mon Sep 17 00:00:00 2001 From: sander Date: Fri, 13 May 2016 01:58:05 +0200 Subject: [PATCH] Sanity check and quadchute during front transition --- src/modules/vtol_att_control/standard.cpp | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 1815676321..78c8bb119c 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -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(); + } } }