VTOL: run vtol state update not only when mc or fw sp are updated, but always

This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -365,23 +365,21 @@ VtolAttitudeControl::Run()
 		bool fw_att_sp_updated = _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
 
 		// update the vtol state machine which decides which mode we are in
-		if (mc_att_sp_updated || fw_att_sp_updated) {
-			_vtol_type->update_vtol_state();
-
-			// reset transition command if not auto control
-			if (_v_control_mode.flag_control_manual_enabled) {
-				if (_vtol_type->get_mode() == mode::ROTARY_WING) {
-					_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-
-				} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
-					_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
-
-				} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
-					/* We want to make sure that a mode change (manual>auto) during the back transition
-					 * doesn't result in an unsafe state. This prevents the instant fall back to
-					 * fixed-wing on the switch from manual to auto */
-					_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-				}
+		_vtol_type->update_vtol_state();
+
+		// reset transition command if not auto control
+		if (_v_control_mode.flag_control_manual_enabled) {
+			if (_vtol_type->get_mode() == mode::ROTARY_WING) {
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+
+			} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+
+			} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
+				/* We want to make sure that a mode change (manual>auto) during the back transition
+				 * doesn't result in an unsafe state. This prevents the instant fall back to
+				 * fixed-wing on the switch from manual to auto */
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 			}
 		}