VTOL Standard transition improvements (#6904)

* FW actuators fully on the entirety of front and back transition
 * back transition ramp up to full MC weight half way through back transition
 * increase maximum front and back transition times
 *  navigator don't reset transition altitude

src/modules/navigator/mission.cpp

@@ -1497,7 +1497,6 @@ Mission::generate_waypoint_from_heading(struct position_setpoint_s *setpoint, fl
 		1000000.0f,
 		&(setpoint->lat),
 		&(setpoint->lon));
-	setpoint->alt = _navigator->get_global_position()->alt;
 	setpoint->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 	setpoint->yaw = yaw;
 }

src/modules/vtol_att_control/standard.cpp

@@ -86,11 +86,11 @@ Standard::parameters_update()
 
 	/* duration of a forwards transition to fw mode */
 	param_get(_params_handles_standard.front_trans_dur, &v);
-	_params_standard.front_trans_dur = math::constrain(v, 0.0f, 5.0f);
+	_params_standard.front_trans_dur = math::constrain(v, 0.0f, 20.0f);
 
 	/* duration of a back transition to mc mode */
 	param_get(_params_handles_standard.back_trans_dur, &v);
-	_params_standard.back_trans_dur = math::constrain(v, 0.0f, 5.0f);
+	_params_standard.back_trans_dur = math::constrain(v, 0.0f, 20.0f);
 
 	/* target throttle value for pusher motor during the transition to fw mode */
 	param_get(_params_handles_standard.pusher_trans, &v);
@@ -315,9 +315,10 @@ void Standard::update_transition_state()
 		_v_att_sp->q_d_valid = true;
 
 		// continually increase mc attitude control as we transition back to mc mode
-		if (_params_standard.back_trans_dur > 0.0f) {
-			float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.back_trans_dur *
-					1000000.0f);
+		if (_params_standard.back_trans_dur > FLT_EPSILON) {
+			float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
+				       ((_params_standard.back_trans_dur / 2) * 1000000.0f);
+			weight = math::constrain(weight, 0.0f, 1.0f);
 			_mc_roll_weight = weight;
 			_mc_pitch_weight = weight;
 			_mc_yaw_weight = weight;
@@ -451,15 +452,26 @@ void Standard::fill_actuator_outputs()
 	// fixed wing controls
 	_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
 
-	//roll
-	_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-		-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight);
-	//pitch
-	_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
-		(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) * (1 - _mc_pitch_weight);
-	// yaw
-	_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
-		_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * (1 - _mc_yaw_weight);
+
+	if (_vtol_schedule.flight_mode != MC_MODE) {
+
+		//roll
+		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
+			-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
+		//pitch
+		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
+			_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim;
+		// yaw
+		_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
+			_actuators_fw_in->control[actuator_controls_s::INDEX_YAW];
+
+	} else {
+
+		// zero outputs when inactive
+		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
+		_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _params->fw_pitch_trim;
+		_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
+	}
 
 	// set the fixed wing throttle control
 	if (_vtol_schedule.flight_mode == FW_MODE && _armed->armed) {

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -199,12 +199,12 @@ PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);
  *
  * @unit s
  * @min 0.00
- * @max 10.00
+ * @max 20.00
  * @increment 1
  * @decimal 2
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 3.0f);
+PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
 
 /**
  * Duration of a back transition
@@ -213,12 +213,12 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 3.0f);
  *
  * @unit s
  * @min 0.00
- * @max 10.00
+ * @max 20.00
  * @increment 1
  * @decimal 2
  * @group VTOL Attitude Control
  */
-PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 2.0f);
+PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
 
 /**
  * Transition blending airspeed