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VTOL Tailsitter: remove throttle spike also for quad-chute

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-04-21 23:57:21 +02:00
parent 199a2f43be
commit 831160389e
1 changed files with 5 additions and 1 deletions
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6
src/modules/vtol_att_control/tailsitter.cpp
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@ -67,6 +67,10 @@ void Tailsitter::update_vtol_state()
if (_vtol_vehicle_status->fixed_wing_system_failure) {
// Failsafe event, switch to MC mode immediately
if (_vtol_mode != vtol_mode::MC_MODE) {
_transition_start_timestamp = hrt_absolute_time();
}
_vtol_mode = vtol_mode::MC_MODE;
} else if (!_attc->is_fixed_wing_requested()) {
@ -314,7 +318,7 @@ void Tailsitter::fill_actuator_outputs()
// for the short period after starting the backtransition where there is no thrust published yet from the MC controller,
// keep publishing the last FW thrust to keep the motors running
if (_vtol_mode == vtol_mode::TRANSITION_BACK && _time_since_trans_start < 0.05f) {
if (_vtol_mode != vtol_mode::TRANSITION_FRONT_P1 && hrt_elapsed_time(&_transition_start_timestamp) < 50_ms) {
_thrust_setpoint_0->xyz[2] = -_last_thr_in_fw_mode;
}