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Check velocity valid and param description

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sanderux 2017-08-13 16:49:47 +02:00 committed by Sander Smeets
parent 50894e8615
commit fbbe3d1f41
2 changed files with 4 additions and 3 deletions
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2
src/modules/vtol_att_control/standard.cpp
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@ -214,7 +214,7 @@ void Standard::update_vtol_state()
if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
(_params_standard.back_trans_dur * 1000000.0f) ||
vel <= _params_standard.mpc_xy_cruise) {
(_local_pos->v_xy_valid && vel <= _params_standard.mpc_xy_cruise)) {
_vtol_schedule.flight_mode = MC_MODE;
}

5
src/modules/vtol_att_control/vtol_att_control_params.c
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@ -221,9 +221,10 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
/**
* Deceleration during back transition
* Approximate deceleration during back transition
*
* The deceleration during a back transition in m/s/s
* The approximate deceleration during a back transition in m/s/s
* Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
*
* @unit m/s/s
* @min 0.00