From 990eb68bbf98a177f11c96b0cac1170d898685f9 Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 19 Nov 2015 15:24:17 +0100 Subject: [PATCH] allow direct switch to fw if disarmed --- src/modules/vtol_att_control/tailsitter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index 3977959859..20f975b7fb 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -177,8 +177,8 @@ void Tailsitter::update_vtol_state() case TRANSITION_FRONT_P1: // check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode - if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans) - && (_v_att->pitch <= PITCH_TRANSITION_FRONT_P1)) { + if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans + && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) { _vtol_schedule.flight_mode = FW_MODE; //_vtol_schedule.transition_start = hrt_absolute_time(); }