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allow direct switch to fw if disarmed

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tumbili
2015-11-19 15:24:17 +01:00
parent 2e7c1e2b36
commit 990eb68bbf
1 changed files with 2 additions and 2 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+2 -2
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@@ -177,8 +177,8 @@ void Tailsitter::update_vtol_state()
case TRANSITION_FRONT_P1:
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans)
&& (_v_att->pitch <= PITCH_TRANSITION_FRONT_P1)) {
if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
}