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added which transition the vtol is in to vehicle status

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This commit is contained in:
Andreas Antener
2016-09-13 14:32:00 +02:00
parent 46105f735e
commit 8c9f4e8ab8
9 changed files with 34 additions and 25 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+7 -4
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@@ -215,15 +215,17 @@ void Tailsitter::update_vtol_state()
break;
case TRANSITION_FRONT_P1:
_vtol_mode = TRANSITION;
_vtol_mode = TRANSITION_TO_FW;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
case TRANSITION_FRONT_P2:
_vtol_mode = TRANSITION;
_vtol_mode = TRANSITION_TO_FW;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
case TRANSITION_BACK:
_vtol_mode = TRANSITION;
_vtol_mode = TRANSITION_TO_MC;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
}
@@ -482,7 +484,8 @@ void Tailsitter::fill_actuator_outputs()
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
break;
case TRANSITION:
case TRANSITION_TO_FW:
case TRANSITION_TO_MC:
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;