QuadChute moved to VtolType

src/modules/vtol_att_control/standard.cpp

@@ -68,7 +68,6 @@ Standard::Standard(VtolAttitudeControl *attc) :
 	_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
 	_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
 	_params_handles_standard.forward_thurst_scale = param_find("VT_FWD_THRUST_SC");
-	_params_handles_standard.fw_minimum_altitude = param_find("VT_FW_MIN_ALT");
 }
 
 Standard::~Standard()
@@ -115,9 +114,6 @@ Standard::parameters_update()
 	/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
 	param_get(_params_handles_standard.forward_thurst_scale, &_params_standard.forward_thurst_scale);
 
-	/* QuadChute; minimum altitude for fixed wing flight */
-	param_get(_params_handles_standard.fw_minimum_altitude, &_params_standard.fw_minimum_altitude);
-
 
 	return OK;
 }
@@ -262,12 +258,6 @@ void Standard::update_transition_state()
 			}
 		}
 
-		// quadchute
-		if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){
-			if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){
-				_attc->abort_front_transition();
-			}
-		}
 
 
 	} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@@ -373,13 +363,6 @@ void Standard::update_fw_state()
 		set_idle_fw();  // force them to stop, not just idle
 		_flag_enable_mc_motors = true;
 	}
-
-	// quadchute
-	if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){
-		if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){
-			_attc->abort_front_transition();
-		}
-	}
 }
 
 /**

src/modules/vtol_att_control/standard.h

@@ -75,8 +75,7 @@ private:
 		float front_trans_timeout;
 		float front_trans_time_min;
 		float down_pitch_max;
-		float forward_thurst_scale;
-		float fw_minimum_altitude;
+		float forward_thurst_scale;		
 	} _params_standard;
 
 	struct {
@@ -89,7 +88,6 @@ private:
 		param_t front_trans_time_min;
 		param_t down_pitch_max;
 		param_t forward_thurst_scale;
-		param_t fw_minimum_altitude;
 	} _params_handles_standard;
 
 	enum vtol_mode {

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -134,6 +134,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params_handles.arsp_lp_gain = param_find("VT_ARSP_LP_GAIN");
 	_params_handles.vtol_type = param_find("VT_TYPE");
 	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
+	_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -567,6 +568,11 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.elevons_mc_lock, &l);
 	_params.elevons_mc_lock = l;
 
+	/* minimum relative altitude for FW mode (QuadChute) */
+	param_get(_params_handles.fw_min_alt, &v);
+	_params.fw_min_alt = v;
+
+
 	return OK;
 }
 

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -209,6 +209,7 @@ private:
 		param_t arsp_lp_gain;
 		param_t vtol_type;
 		param_t elevons_mc_lock;
+		param_t fw_min_alt;
 	} _params_handles;
 
 	/* for multicopters it is usual to have a non-zero idle speed of the engines

src/modules/vtol_att_control/vtol_type.cpp

@@ -177,6 +177,25 @@ void VtolType::update_fw_state()
 	if (!_tecs_running || (_tecs_running && _fw_virtual_att_sp->timestamp <= _tecs_running_ts)) {
 		waiting_on_tecs();
 	}
+
+	// quadchute
+	if(_params->fw_min_alt > FLT_EPSILON && _armed->armed){
+		if(-(_local_pos->z) < _params->fw_min_alt){
+			_attc->abort_front_transition();
+		}
+	}
+
+}
+
+void VtolType::update_transition_state()
+{
+	// quadchute
+	if(_params->fw_min_alt > FLT_EPSILON && _armed->armed){
+		if(-(_local_pos->z) < _params->fw_min_alt){
+			_attc->abort_front_transition();
+		}
+	}
+
 }
 
 bool VtolType::can_transition_on_ground()

src/modules/vtol_att_control/vtol_type.h

@@ -59,6 +59,7 @@ struct Params {
 	float arsp_lp_gain;			// total airspeed estimate low pass gain
 	int vtol_type;
 	int elevons_mc_lock;		// lock elevons in multicopter mode
+	float fw_min_alt;			// minimum relative altitude for FW mode (QuadChute)
 };
 
 enum mode {