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Fix quadchute logic so that it also works during back transition

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This commit is contained in:
Thomas
2021-01-15 09:19:07 +03:00
committed by Roman Bapst
parent 420ceb76fc
commit b90fafd5cd
3 changed files with 19 additions and 32 deletions
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src/modules/vtol_att_control/standard.cpp
+18 -17
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@@ -106,7 +106,19 @@ void Standard::update_vtol_state()
float mc_weight = _mc_roll_weight;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_attc->is_fixed_wing_requested()) {
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
@@ -117,21 +129,10 @@ void Standard::update_vtol_state()
_reverse_output = 0.0f;
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// transition to mc mode
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else {
// Regular backtransition
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
}
// Regular backtransition
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
@@ -162,7 +163,7 @@ void Standard::update_vtol_state()
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// start transition to fw mode
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
* unsafe flying state. */
* unsafe flying state. */
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();