From a916cc2a262b92d197a624de4e6f288b69621bb3 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 17 Mar 2020 10:22:30 +0300 Subject: [PATCH] better comments Signed-off-by: RomanBapst --- .../flight_tasks/tasks/Transition/FlightTaskTransition.cpp | 4 +++- src/modules/vtol_att_control/standard.cpp | 2 ++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp index c823b5f9c7..dfe98499fb 100644 --- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp +++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp @@ -60,8 +60,10 @@ void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &set bool FlightTaskTransition::update() { - // level wings during the transition, altitude should be controlled _acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f); + // demand zero vertical velocity and level attitude + // tailsitters will override attitude and thrust setpoint + // tiltrotors and standard vtol will overrride roll and pitch setpoint but keep vertical thrust setpoint _position_setpoint *= NAN; _velocity_setpoint(2) = 0.0f; _position_setpoint(2) = NAN; diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 57244eb9f8..698482da18 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -281,6 +281,8 @@ void Standard::update_transition_state() } else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) { _v_att_sp->roll_body = _fw_virtual_att_sp->roll_body; + + // control backtransition deceleration using pitch. _v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp(); const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));