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fix(fw_mode_manager): only use line-following backtransition if position and velocity good enough

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Balduin
2026-04-20 12:31:12 +02:00
parent 9b45769878
commit 08542d397f
1 changed files with 6 additions and 1 deletions
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src/modules/fw_mode_manager/FixedWingModeManager.cpp
+6 -1
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@@ -405,7 +405,12 @@ FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
// Enter this mode only if the current waypoint has valid 3D position setpoints.
if (doing_backtransition) {
_control_mode_current = FW_POSCTRL_MODE_TRANSITION_TO_HOVER_LINE_FOLLOW;
const bool position_good_enough = _local_pos.eph < 10.0f && _local_pos.evh < 10.0f;
_control_mode_current = position_good_enough
? FW_POSCTRL_MODE_TRANSITION_TO_HOVER_LINE_FOLLOW
: FW_POSCTRL_MODE_TRANSITION_TO_HOVER_HEADING_HOLD;
} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {