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Merge pull request #3195 from PX4/vtol_bench_test

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VTOL: bench testing without airspeed reading
This commit is contained in:
Roman Bapst
2015-11-17 09:30:02 +01:00
parent ee2ce77c82 2b50297c2e
commit d5150efa2b
2 changed files with 3 additions and 2 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -1
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@@ -154,7 +154,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans) { if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE; _vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now // we can turn off the multirotor motors now
_flag_enable_mc_motors = false; _flag_enable_mc_motors = false;
src/modules/vtol_att_control/tiltrotor.cpp
+2 -1
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@@ -205,7 +205,8 @@ void Tiltrotor::update_vtol_state()
case TRANSITION_FRONT_P1: case TRANSITION_FRONT_P1:
// check if we have reached airspeed to switch to fw mode // check if we have reached airspeed to switch to fw mode
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans) { // also allow switch if we are not armed for the sake of bench testing
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = TRANSITION_FRONT_P2; _vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
_vtol_schedule.transition_start = hrt_absolute_time(); _vtol_schedule.transition_start = hrt_absolute_time();
} }