vtol_att_control: use airspeed_disabled flag instead of airspeed mode

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/vtol_att_control/standard.cpp

@@ -190,7 +190,7 @@ void Standard::update_vtol_state()
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
 			// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
-			if (((_params->airspeed_mode == 1 ||
+			if (((_params->airspeed_disabled ||
 			      _airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) &&
 			     time_since_trans_start > _params->front_trans_time_min * 1e6f) ||
 			    can_transition_on_ground()) {
@@ -260,7 +260,7 @@ void Standard::update_transition_state()
 				    _airspeed_trans_blend_margin;
 			// time based blending when no airspeed sensor is set
 
-		} else if (_params->airspeed_mode == 1 &&
+		} else if (_params->airspeed_disabled &&
 			   time_since_trans_start < _params->front_trans_time_min * 1e6f &&
 			   time_since_trans_start > _params->front_trans_time_min * 1e6f / 2.0f) {
 			mc_weight = 1.0f - ((time_since_trans_start -  _params->front_trans_time_min * 1e6f / 2.0f) /

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -505,7 +505,8 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.front_trans_throttle, &_params.front_trans_throttle);
 	param_get(_params_handles.back_trans_throttle, &_params.back_trans_throttle);
 	param_get(_params_handles.airspeed_blend, &_params.airspeed_blend);
-	param_get(_params_handles.airspeed_mode, &_params.airspeed_mode);
+	param_get(_params_handles.airspeed_mode, &l);
+	_params.airspeed_disabled = l != 0;
 	param_get(_params_handles.front_trans_timeout, &_params.front_trans_timeout);
 	param_get(_params_handles.mpc_xy_cruise, &_params.mpc_xy_cruise);
 

src/modules/vtol_att_control/vtol_type.h

@@ -67,7 +67,7 @@ struct Params {
 	float front_trans_throttle;
 	float back_trans_throttle;
 	float airspeed_blend;
-	int32_t airspeed_mode;
+	bool airspeed_disabled;
 	float front_trans_timeout;
 	float mpc_xy_cruise;
 };