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VTOL: extend front transition QC to first 5s after completing transition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-04-21 14:52:40 +02:00
committed by bresch
parent 473be910f2
commit d88de8ea38
1 changed files with 3 additions and 1 deletions
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src/modules/vtol_att_control/vtol_type.cpp
+3 -1
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@@ -301,7 +301,9 @@ bool VtolType::isFrontTransitionAltitudeLoss()
{
bool result = false;
if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW && _local_pos->z_valid) {
// only run if param set, altitude estimate valid and in transition to FW or within 5s of finishing it.
if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && (_common_vtol_mode == mode::TRANSITION_TO_FW
|| hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
result = _local_pos->z - _local_position_z_start_of_transition > _param_vt_qc_t_alt_loss.get();
}