Fix quadchute logic so that it also works during back transition

src/modules/vtol_att_control/standard.cpp

@@ -106,7 +106,19 @@ void Standard::update_vtol_state()
 	float mc_weight = _mc_roll_weight;
 	float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
 
-	if (!_attc->is_fixed_wing_requested()) {
+	if (_vtol_vehicle_status->vtol_transition_failsafe) {
+		// Failsafe event, engage mc motors immediately
+		_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
+		_pusher_throttle = 0.0f;
+		_reverse_output = 0.0f;
+
+		//reset failsafe when FW is no longer requested
+		if (!_attc->is_fixed_wing_requested()) {
+			_vtol_vehicle_status->vtol_transition_failsafe = false;
+		}
+
+
+	} else if (!_attc->is_fixed_wing_requested()) {
 
 		// the transition to fw mode switch is off
 		if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
@@ -117,21 +129,10 @@ void Standard::update_vtol_state()
 			_reverse_output = 0.0f;
 
 		} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
-			// transition to mc mode
+			// Regular backtransition
-			if (_vtol_vehicle_status->vtol_transition_failsafe) {
+			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
-				// Failsafe event, engage mc motors immediately
+			_vtol_schedule.transition_start = hrt_absolute_time();
-				_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
+			_reverse_output = _params_standard.reverse_output;
-				_pusher_throttle = 0.0f;
-				_reverse_output = 0.0f;
-
-
-			} else {
-				// Regular backtransition
-				_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
-				_vtol_schedule.transition_start = hrt_absolute_time();
-				_reverse_output = _params_standard.reverse_output;
-
-			}
 
 		} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
 			// failsafe back to mc mode
@@ -162,7 +163,7 @@ void Standard::update_vtol_state()
 		if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
 			// start transition to fw mode
 			/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
-			 * unsafe flying state. */
+			* unsafe flying state. */
 			_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
 			_vtol_schedule.transition_start = hrt_absolute_time();
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -207,27 +207,14 @@ VtolAttitudeControl::is_fixed_wing_requested()
 		to_fw = (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
 	}
 
-	// handle abort request
-	if (_abort_front_transition) {
-		if (to_fw) {
-			to_fw = false;
-
-		} else {
-			// the state changed to mc mode, reset the abort request
-			_abort_front_transition = false;
-			_vtol_vehicle_status.vtol_transition_failsafe = false;
-		}
-	}
-
 	return to_fw;
 }
 
 void
 VtolAttitudeControl::abort_front_transition(const char *reason)
 {
-	if (!_abort_front_transition) {
+	if (!_vtol_vehicle_status.vtol_transition_failsafe) {
 		mavlink_log_critical(&_mavlink_log_pub, "Abort: %s", reason);
-		_abort_front_transition = true;
 		_vtol_vehicle_status.vtol_transition_failsafe = true;
 	}
 }

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -222,7 +222,6 @@ private:
 	 * for fixed wings we want to have an idle speed of zero since we do not want
 	 * to waste energy when gliding. */
 	int		_transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
-	bool		_abort_front_transition{false};
 
 	VtolType	*_vtol_type{nullptr};	// base class for different vtol types