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Minimum altitude for FW flight in standard VTOL

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This commit is contained in:
sander
2016-06-07 19:52:25 +02:00
committed by Roman
parent 3f027023cf
commit ec15130a80
3 changed files with 22 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+8
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@@ -68,6 +68,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles_standard.forward_thurst_scale = param_find("VT_FWD_THRUST_SC");
_params_handles_standard.fw_minimum_altitude = param_find("VT_FW_MIN_ALT");
}
Standard::~Standard()
@@ -114,6 +115,9 @@ Standard::parameters_update()
/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
param_get(_params_handles_standard.forward_thurst_scale, &_params_standard.forward_thurst_scale);
/* QuadChute; minimum altitude for fixed wing flight */
param_get(_params_handles_standard.fw_minimum_altitude, &_params_standard.fw_minimum_altitude);
return OK;
}
@@ -361,6 +365,10 @@ void Standard::update_fw_state()
set_idle_fw(); // force them to stop, not just idle
_flag_enable_mc_motors = true;
}
if(_local_pos->dist_bottom < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
}
}
/**