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fixed tailsitter transitions (#20756)

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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Roman Bapst
2022-12-13 12:38:38 +03:00
committed by GitHub
parent aba11ce920
commit 257d4e473b
1 changed files with 2 additions and 0 deletions
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src/modules/vtol_att_control/tailsitter.cpp
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@@ -174,6 +174,8 @@ void Tailsitter::update_vtol_state()
void Tailsitter::update_transition_state() void Tailsitter::update_transition_state()
{ {
VtolType::update_transition_state();
const hrt_abstime now = hrt_absolute_time(); 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) // we need the incoming (virtual) mc attitude setpoints to be recent, otherwise return (means the previous setpoint stays active)