From 5b8b4454250ad83de2d6d12812fca5900e9eca94 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Wed, 10 Feb 2016 16:52:06 +0100
Subject: [PATCH] consider transition command for the correct state

---
 src/lib/ecl                                          |  2 +-
 .../vtol_att_control/vtol_att_control_main.cpp       | 12 +++++++-----
 src/modules/vtol_att_control/vtol_att_control_main.h |  1 +
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/src/lib/ecl b/src/lib/ecl
index b21a49b3f9..0a9f7e58db 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit b21a49b3f9b7267663fd79a92f50c2db78eae762
+Subproject commit 0a9f7e58dbb5708fc894a865376ede6cbb675fd4
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 3a10472ca0..302850778a 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -43,6 +43,7 @@
  * @author Thomas Gubler	<thomasgubler@gmail.com>
  * @author David Vorsin		<davidvorsin@gmail.com>
  * @author Sander Smeets	<sander@droneslab.com>
+ * @author Andreas Antener 	<andreas@uaventure.com>
  *
  */
 #include "vtol_att_control_main.h"
@@ -428,13 +429,14 @@ VtolAttitudeControl::is_fixed_wing_requested()
 {
 	bool to_fw = _manual_control_sp.aux1 > 0.0f;
 
-	if (_v_control_mode.flag_control_offboard_enabled || _v_control_mode.flag_control_auto_enabled) {
+	// listen to transition commands if not in manual
+	if (!_v_control_mode.flag_control_manual_enabled) {
 		to_fw = _transition_command == vehicle_status_s::VEHICLE_VTOL_STATE_FW;
 	}
 
 	// handle abort request
-	if(_abort_front_transition) {
-		if(to_fw) {
+	if (_abort_front_transition) {
+		if (to_fw) {
 			to_fw = false;
 		} else {
 			// the state changed to mc mode, reset the abort request
@@ -666,8 +668,8 @@ void VtolAttitudeControl::task_main()
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();
 
-		// reset transition command if not in offboard control
-		if (!_v_control_mode.flag_control_offboard_enabled) {
+		// reset transition command if not auto control
+		if (_v_control_mode.flag_control_manual_enabled) {
 			if (_vtol_type->get_mode() == ROTARY_WING) {
 				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 6cf1926a9c..27bcc6ec7f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -43,6 +43,7 @@
  * @author Thomas Gubler	<thomasgubler@gmail.com>
  * @author David Vorsin		<davidvorsin@gmail.com>
  * @author Sander Smeets	<sander@droneslab.com>
+ * @author Andreas Antener 	<andreas@uaventure.com>
  *
  */
 #ifndef VTOL_ATT_CONTROL_MAIN_H