VTOL back transition: check only forward velocity #7948
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sanderux
added
Admin: Enhancement (improvement) 💡
Hybrid VTOL 🛩️🚁
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Looks right. Might want to revisit this later to think about cross wind transitions and crabbing. |
dagar
approved these changes
Sep 10, 2017
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As there is no position control and no thrust i don't think a quadplane crabs during back transition. |
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Replaces #7945
During back transition in a cross wind the vehicle can drift sideways preventing the current velocity check from triggering.
This only checks forward velocity (body frame) and trigger if it falls below MPC cruise speed.