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VTOL: run vtol state update not only when mc or fw sp are updated, but always

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This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-19 20:33:39 +01:00
committed by Roman Bapst
parent 3a2f15eba1
commit 9edb1179d0
1 changed files with 12 additions and 14 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+12 -14
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@@ -365,23 +365,21 @@ VtolAttitudeControl::Run()
bool fw_att_sp_updated = _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
// update the vtol state machine which decides which mode we are in
if (mc_att_sp_updated || fw_att_sp_updated) {
_vtol_type->update_vtol_state();
_vtol_type->update_vtol_state();
// reset transition command if not auto control
if (_v_control_mode.flag_control_manual_enabled) {
if (_vtol_type->get_mode() == mode::ROTARY_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
// reset transition command if not auto control
if (_v_control_mode.flag_control_manual_enabled) {
if (_vtol_type->get_mode() == mode::ROTARY_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
/* We want to make sure that a mode change (manual>auto) during the back transition
* doesn't result in an unsafe state. This prevents the instant fall back to
* fixed-wing on the switch from manual to auto */
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
/* We want to make sure that a mode change (manual>auto) during the back transition
* doesn't result in an unsafe state. This prevents the instant fall back to
* fixed-wing on the switch from manual to auto */
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
}