From f76399be5ecfc72bf08657ce940eb3ffc22e5d99 Mon Sep 17 00:00:00 2001
From: Yannick Fuhrer <yannick@auterion.com>
Date: Thu, 27 Apr 2023 09:22:04 +0200
Subject: [PATCH] vtol_type: scale VT_TRANS_TIMEOUT with air density (#21509)

---
 src/modules/vtol_att_control/vtol_type.cpp | 9 +++++++--
 src/modules/vtol_att_control/vtol_type.h   | 5 +++++
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 8f467eecb5..855b4ce481 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -347,9 +347,9 @@ bool VtolType::isRollExceeded()
 bool VtolType::isFrontTransitionTimeout()
 {
 	// check front transition timeout
-	if (_param_vt_trans_timeout.get()  > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW) {
+	if (getFrontTransitionTimeout()  > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW) {
 
-		if (_time_since_trans_start > _param_vt_trans_timeout.get()) {
+		if (_time_since_trans_start > getFrontTransitionTimeout()) {
 			// transition timeout occured, abort transition
 			return true;
 		}
@@ -582,6 +582,11 @@ float VtolType::getMinimumFrontTransitionTime() const
 	return getFrontTransitionTimeFactor() * _param_vt_trans_min_tm.get();
 }
 
+float VtolType::getFrontTransitionTimeout() const
+{
+	return getFrontTransitionTimeFactor() * _param_vt_trans_timeout.get();
+}
+
 float VtolType::getOpenLoopFrontTransitionTime() const
 {
 	return getFrontTransitionTimeFactor() * _param_vt_f_tr_ol_tm.get();
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 99e52422b6..12703f5a24 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -227,6 +227,11 @@ public:
 	*/
 	float getMinimumFrontTransitionTime() const;
 
+	/**
+	 * @return Front transition timeout scaled for air density (if available) [s]
+	*/
+	float getFrontTransitionTimeout() const;
+
 	/**
 	* @return Minimum open-loop front transition time scaled for air density (if available) [s]
 	*/