fixed tailsitter transitions (#20756)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-12-13 12:38:38 +03:00
committed by GitHub
parent aba11ce920
commit 257d4e473b
@@ -174,6 +174,8 @@ void Tailsitter::update_vtol_state()
void Tailsitter::update_transition_state()
{
VtolType::update_transition_state();
const hrt_abstime now = hrt_absolute_time();
// we need the incoming (virtual) mc attitude setpoints to be recent, otherwise return (means the previous setpoint stays active)