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don't switch to SETPOINT_TYPE_LOITER during transitions (#18350)

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This commit is contained in:
Thomas Stauber
2021-10-05 14:40:14 +02:00
committed by GitHub
parent 75b8e11b90
commit 983dd4db29
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -842,7 +842,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
// POSITION: achieve position setpoint altitude via loiter
// close to waypoint, but altitude error greater than twice acceptance
if ((dist >= 0.f)
if ((!_vehicle_status.in_transition_mode) && (dist >= 0.f)
&& (dist_z > 2.f * _param_fw_clmbout_diff.get())
&& (dist_xy < 2.f * math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius)))) {
// SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER