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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>
sbg
Silvan Fuhrer 5 years ago committed by Roman Bapst
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3a2f15eba1
commit
9edb1179d0
1 changed files with 15 additions and 17 deletions
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  1. 32
      src/modules/vtol_att_control/vtol_att_control_main.cpp

32
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -365,23 +365,21 @@ VtolAttitudeControl::Run()
bool fw_att_sp_updated = _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp); 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 // 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();
_vtol_type->update_vtol_state();
// reset transition command if not auto control
// reset transition command if not auto control if (_v_control_mode.flag_control_manual_enabled) {
if (_v_control_mode.flag_control_manual_enabled) { if (_vtol_type->get_mode() == mode::ROTARY_WING) {
if (_vtol_type->get_mode() == mode::ROTARY_WING) { _transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
} else if (_vtol_type->get_mode() == mode::FIXED_WING) { _transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
} 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
/* 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
* doesn't result in an unsafe state. This prevents the instant fall back to * fixed-wing on the switch from manual to auto */
* fixed-wing on the switch from manual to auto */ _transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
}
} }
} }

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