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Tailsitter: add add transition timeout (abort transition after VT_TRANS_TMEOUT, Quadchute)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-10-04 09:53:43 +02:00 committed by Daniel Agar
parent 1a1bb2629d
commit bdc57178d4
1 changed files with 10 additions and 0 deletions
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10
src/modules/vtol_att_control/tailsitter.cpp
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@ -130,6 +130,8 @@ void Tailsitter::update_vtol_state()
case vtol_mode::TRANSITION_FRONT_P1: {
const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled;
@ -151,6 +153,14 @@ void Tailsitter::update_vtol_state()
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
}
// check front transition timeout
if (_params->front_trans_timeout > FLT_EPSILON) {
if (time_since_trans_start > _params->front_trans_timeout) {
// transition timeout occured, abort transition
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
}
}
break;
}