From 1a66155d8ad9f6dd287716b860b10ea6e74f9acc Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 11 May 2016 15:56:56 +0200 Subject: [PATCH] use new method for instant transition in tailsitter --- src/modules/vtol_att_control/tailsitter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index b8be7ff8d2..f46ceb66e6 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -180,7 +180,7 @@ void Tailsitter::update_vtol_state() // check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans - && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) { + && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) { _vtol_schedule.flight_mode = FW_MODE; //_vtol_schedule.transition_start = hrt_absolute_time(); }