vtol: do not control deceleration during backtransition manual, acro …

…or stabilized Signed-off-by: RomanBapst <bapstroman@gmail.com>
PX4 · Apr 14, 2020 · 338dd45 · 338dd45
1 parent 588195f
commit 338dd45
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
@@ -282,8 +282,10 @@ void Standard::update_transition_state()
 
 		_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
 
-		// control backtransition deceleration using pitch.
-		_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
+		if (_v_control_mode->flag_control_climb_rate_enabled) {
+			// control backtransition deceleration using pitch.
+			_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
+		}
 
 		const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
 		q_sp.copyTo(_v_att_sp->q_d);

diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -361,7 +361,9 @@ void Tiltrotor::update_transition_state()
 		_mc_yaw_weight = 1.0f;
 
 		// control backtransition deceleration using pitch.
-		_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
+		if (_v_control_mode->flag_control_climb_rate_enabled) {
+			_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
+		}
 
 		// while we quickly rotate back the motors keep throttle at idle
 		if (time_since_trans_start < 1.0f) {
@@ -380,7 +382,6 @@ void Tiltrotor::update_transition_state()
 	const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
 	q_sp.copyTo(_v_att_sp->q_d);
 
-
 	_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
 	_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
 	_mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f);