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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
2021-10-05 18:19:33 -04:00
committed by Daniel Agar
parent 1a1bb2629d
commit bdc57178d4
1 changed files with 10 additions and 0 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+10
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@@ -130,6 +130,8 @@ void Tailsitter::update_vtol_state()
case vtol_mode::TRANSITION_FRONT_P1: { 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) const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled; && !_params->airspeed_disabled;
@@ -151,6 +153,14 @@ void Tailsitter::update_vtol_state()
_vtol_schedule.flight_mode = vtol_mode::FW_MODE; _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; break;
} }