evaluate transition command in vtol controller instead of vtol type, use distinct state variables instead of additional command struct

src/modules/vtol_att_control/standard.cpp

@@ -105,7 +105,7 @@ void Standard::update_vtol_state()
 	 * For the back transition the pusher motor is immediately stopped and rotors reactivated.
  	 */
 
-	if (!is_fixed_wing_requested()) {
+	if (!_attc->is_fixed_wing_requested()) {
 		// the transition to fw mode switch is off
 		if (_vtol_schedule.flight_mode == MC_MODE) {
 			// in mc mode

src/modules/vtol_att_control/tailsitter.cpp

@@ -58,7 +58,7 @@ Tailsitter::~Tailsitter()
 void Tailsitter::update_vtol_state()
 {
 	// simply switch between the two modes
-	if (!is_fixed_wing_requested()) {
+	if (!_attc->is_fixed_wing_requested()) {
 		_vtol_mode = ROTARY_WING;
 	} else {
 		_vtol_mode = FIXED_WING;

src/modules/vtol_att_control/tiltrotor.cpp

@@ -158,7 +158,7 @@ void Tiltrotor::update_vtol_state()
 	 * forward completely. For the backtransition the motors simply rotate back.
  	*/
 
-	if (!is_fixed_wing_requested()) {
+	if (!_attc->is_fixed_wing_requested()) {
 
 		// plane is in multicopter mode
 		switch(_vtol_schedule.flight_mode) {

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -97,7 +97,6 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	memset(&_airspeed,0,sizeof(_airspeed));
 	memset(&_batt_status,0,sizeof(_batt_status));
 	memset(&_vehicle_cmd,0, sizeof(_vehicle_cmd));
-	memset(&_vehicle_transition_cmd,0, sizeof(_vehicle_cmd));
 
 	_params.idle_pwm_mc = PWM_LOWEST_MIN;
 	_params.vtol_motor_count = 0;
@@ -325,9 +324,35 @@ VtolAttitudeControl::vehicle_cmd_poll() {
 
 	if (updated) {
 		orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_cmd);
+		handle_command();
 	}
 }
 
+/**
+* Check received command
+*/
+void
+VtolAttitudeControl::handle_command() {
+	// update transition command if necessary
+	if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
+		_transition_command = int(_vehicle_cmd.param1 + 0.5f);
+	}
+}
+
+/*
+ * Returns true if fixed-wing mode is requested.
+ * Changed either via switch or via command.
+ */
+bool
+VtolAttitudeControl::is_fixed_wing_requested()
+{
+	bool to_fw = _manual_control_sp.aux1 > 0.0f;
+ 	if (_v_control_mode.flag_control_offboard_enabled) {
+ 		to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+ 	}
+ 	return to_fw;
+}
+
 /**
 * Update parameters.
 */
@@ -502,11 +527,6 @@ void VtolAttitudeControl::task_main()
 		vehicle_battery_poll();
 		vehicle_cmd_poll();
 
-		// update transition command if necessary
-		if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
-			orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
-		}
-
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();
 
@@ -514,10 +534,10 @@ void VtolAttitudeControl::task_main()
 		if (!_v_control_mode.flag_control_offboard_enabled)
 		{
 			if (_vtol_type->get_mode() == ROTARY_WING) {
-				_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 			}
 			else if (_vtol_type->get_mode() == FIXED_WING) {
-				_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
 			}
 		}
 

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -117,7 +117,6 @@ public:
 	struct vehicle_local_position_s* 	get_local_pos () {return &_local_pos;}
 	struct airspeed_s* 					get_airspeed () {return &_airspeed;}
 	struct battery_status_s* 			get_batt_status () {return &_batt_status;}
-	struct vehicle_command_s*			get_vehicle_transition_cmd () {return &_vehicle_transition_cmd;}
 
 	struct Params* 						get_params () {return &_params;}
 
@@ -167,7 +166,6 @@ private:
 	struct airspeed_s 					_airspeed;			// airspeed
 	struct battery_status_s 			_batt_status; 		// battery status
 	struct vehicle_command_s			_vehicle_cmd;
-	struct vehicle_command_s			_vehicle_transition_cmd; // stores transition commands only
 
 	Params _params;	// struct holding the parameters
 
@@ -191,6 +189,7 @@ private:
 	 * to waste energy when gliding. */
 	unsigned _motor_count;	// number of motors
 	float _airspeed_tot;
+	int _transition_command;
 
 	VtolType * _vtol_type;	// base class for different vtol types
 	Tiltrotor * _tiltrotor;	// tailsitter vtol type
@@ -217,6 +216,7 @@ private:
 	int 		parameters_update();			//Update local paraemter cache
 	void 		fill_mc_att_rates_sp();
 	void 		fill_fw_att_rates_sp();
+	void		handle_command();
 };
 
 #endif

src/modules/vtol_att_control/vtol_type.cpp

@@ -63,7 +63,6 @@ _vtol_mode(ROTARY_WING)
 	_local_pos = _attc->get_local_pos();
 	_airspeed = _attc->get_airspeed();
 	_batt_status = _attc->get_batt_status();
-	_vehicle_transition_cmd = _attc->get_vehicle_transition_cmd();
 	_params = _attc->get_params();
 
 	flag_idle_mc = true;
@@ -132,16 +131,3 @@ void VtolType::set_idle_fw()
 
 	close(fd);
 }
-
-/*
- * Returns true if fixed-wing mode is requested.
- * Changed either via switch or via command.
- */
-bool VtolType::is_fixed_wing_requested()
-{
-	bool to_fw = _manual_control_sp->aux1 > 0.0f;
- 	if (_v_control_mode->flag_control_offboard_enabled) {
- 		to_fw = fabsf(_vehicle_transition_cmd->param1 - vehicle_status_s::VEHICLE_VTOL_STATE_FW) < FLT_EPSILON;
- 	}
- 	return to_fw;
-}

src/modules/vtol_att_control/vtol_type.h

@@ -87,8 +87,6 @@ public:
 
 	mode get_mode () {return _vtol_mode;};
 
-	bool is_fixed_wing_requested();
-
 protected:
 	VtolAttitudeControl *_attc;
 	mode _vtol_mode;
@@ -109,7 +107,6 @@ protected:
 	struct vehicle_local_position_s		*_local_pos;
 	struct airspeed_s 					*_airspeed;			// airspeed
 	struct battery_status_s 			*_batt_status; 		// battery status
-	struct vehicle_command_s			*_vehicle_transition_cmd;
 
 	struct Params 						*_params;