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make failsafe handling consistent over all VTOL types

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This commit is contained in:
Thomas 2021-01-13 16:05:32 +01:00 committed by Roman Bapst
parent 38e46ff341
commit df41c99b61
2 changed files with 20 additions and 2 deletions
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11
src/modules/vtol_att_control/tailsitter.cpp
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@ -80,7 +80,16 @@ void Tailsitter::update_vtol_state()
float pitch = Eulerf(Quatf(_v_att->q)).theta();
if (!_attc->is_fixed_wing_requested()) {
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, switch to MC mode immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
case vtol_mode::MC_MODE:

11
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -100,7 +100,16 @@ void Tiltrotor::update_vtol_state()
* forward completely. For the backtransition the motors simply rotate back.
*/
if (!_attc->is_fixed_wing_requested()) {
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, switch to MC mode immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// plane is in multicopter mode
switch (_vtol_schedule.flight_mode) {