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wait until back transition time has passed

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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
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src/modules/vtol_att_control/standard.cpp
+5 -2
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@@ -128,8 +128,11 @@ void Standard::update_vtol_state()
_mc_yaw_weight = 1.0f; _mc_yaw_weight = 1.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { } else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// keep transitioning to mc mode // transition to MC mode if transition time has passed
_vtol_schedule.flight_mode = MC_MODE; 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 // the pusher motor should never be powered when in or transitioning to mc mode