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tailsitter.cpp:If transition timeout,abort transition

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xdwgood
2021-09-03 13:41:40 +02:00
committed by Silvan Fuhrer
parent 92abf0545a
commit c35293107d
1 changed files with 8 additions and 0 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+8
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@@ -240,6 +240,14 @@ void Tailsitter::update_transition_state()
time_since_trans_start * trans_pitch_rate)) * _q_trans_start; time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
} }
// 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("Transition timeout");
}
}
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) { } else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
const float trans_pitch_rate = M_PI_2_F / _params->back_trans_duration; const float trans_pitch_rate = M_PI_2_F / _params->back_trans_duration;