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vtol_att_control: reset transition timer states when starting a transition

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-12-16 11:36:00 +03:00
committed by Roman Bapst
parent 84c5ce3a53
commit ffdf186598
4 changed files with 17 additions and 7 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+3 -3
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@@ -88,8 +88,8 @@ void Tiltrotor::update_vtol_state()
break;
case vtol_mode::FW_MODE:
resetTransitionTimer();
_vtol_mode = vtol_mode::TRANSITION_BACK;
_transition_start_timestamp = hrt_absolute_time();
break;
case vtol_mode::TRANSITION_FRONT_P1:
@@ -131,8 +131,8 @@ void Tiltrotor::update_vtol_state()
switch (_vtol_mode) {
case vtol_mode::MC_MODE:
// initialise a front transition
resetTransitionTimer();
_vtol_mode = vtol_mode::TRANSITION_FRONT_P1;
_transition_start_timestamp = hrt_absolute_time();
break;
case vtol_mode::FW_MODE:
@@ -159,7 +159,7 @@ void Tiltrotor::update_vtol_state()
if (transition_to_p2) {
_vtol_mode = vtol_mode::TRANSITION_FRONT_P2;
_transition_start_timestamp = hrt_absolute_time();
resetTransitionTimer();
}
break;