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VTOL standard - Group multicopter weights in update_vtol_state()

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This commit is contained in:
bresch
2018-01-29 09:32:51 -05:00
committed by Daniel Agar
parent d34767b871
commit 920cb7a1a1
1 changed files with 10 additions and 12 deletions
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src/modules/vtol_att_control/standard.cpp
+10 -12
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@@ -162,16 +162,15 @@ void Standard::update_vtol_state()
* For the back transition the pusher motor is immediately stopped and rotors reactivated.
*/
float mc_weight = _mc_roll_weight;
if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off
if (_vtol_schedule.flight_mode == MC_MODE) {
// in mc mode
_vtol_schedule.flight_mode = MC_MODE;
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
@@ -197,10 +196,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// failsafe back to mc mode
_vtol_schedule.flight_mode = MC_MODE;
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
@@ -233,10 +229,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == FW_MODE) {
// in fw mode
_vtol_schedule.flight_mode = FW_MODE;
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
_mc_yaw_weight = 0.0f;
_mc_throttle_weight = 0.0f;
mc_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
@@ -256,6 +249,11 @@ void Standard::update_vtol_state()
}
}
_mc_roll_weight = mc_weight;
_mc_pitch_weight = mc_weight;
_mc_yaw_weight = mc_weight;
_mc_throttle_weight = mc_weight;
// map specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE: