Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 21:55:34 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

wait until back transition time has passed

Browse Source
This commit is contained in:
Andreas Antener
2015-08-17 15:35:05 +02:00
parent b56eaeaf8d
commit f1ab7cc880
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/standard.cpp
+5 -2
View File
@@ -128,8 +128,11 @@ void Standard::update_vtol_state()
_mc_yaw_weight = 1.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// keep transitioning to mc mode
_vtol_schedule.flight_mode = MC_MODE;
// transition to MC mode if transition time has passed
if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
(_params_standard.back_trans_dur * 1000000.0f)) {
_vtol_schedule.flight_mode = MC_MODE;
}
}
// the pusher motor should never be powered when in or transitioning to mc mode