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Allow transition commands also in manual if no switch is used

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This commit is contained in:
Lorenz Meier
2016-07-29 13:43:24 +02:00
parent 1f1839d978
commit e70223c2be
1 changed files with 9 additions and 5 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+9 -5
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@@ -89,7 +89,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_vtol_vehicle_status_pub(nullptr),
_v_rates_sp_pub(nullptr),
_v_att_sp_pub(nullptr),
_transition_command(vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
_abort_front_transition(false)
{
@@ -481,11 +481,15 @@ VtolAttitudeControl::handle_command()
bool
VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = _manual_control_sp.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON;
bool to_fw = false;
// listen to transition commands if not in manual
if (!_v_control_mode.flag_control_manual_enabled) {
to_fw = _transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
if (_manual_control_sp.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
_v_control_mode.flag_control_manual_enabled) {
to_fw = (_manual_control_sp.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
} else {
// listen to transition commands if not in manual or mode switch is not mapped
to_fw = (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
}
// handle abort request