mc_att_control: don't generate attitude setpoint for tailsitters

during a transition

- this regression most likely comes from PR #10805

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

src/modules/mc_att_control/mc_att_control.hpp

@@ -264,7 +264,9 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 		(ParamFloat<px4::params::MPC_MANTHR_MIN>) _man_throttle_min,			/**< minimum throttle for stabilized */
 		(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max,				/**< maximum throttle for stabilized */
 		(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover,			/**< throttle at which vehicle is at hover equilibrium */
-		(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve				/**< throttle curve behavior */
+		(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve,				/**< throttle curve behavior */
+
+		(ParamInt<px4::params::VT_TYPE>) _vtol_type
 	)
 
 	matrix::Vector3f _attitude_p;		/**< P gain for attitude control */

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -51,6 +51,7 @@
 #include <circuit_breaker/circuit_breaker.h>
 #include <mathlib/math/Limits.hpp>
 #include <mathlib/math/Functions.hpp>
+#include <vtol_att_control/vtol_type.h>
 
 #define TPA_RATE_LOWER_LIMIT 0.05f
 
@@ -891,10 +892,12 @@ MulticopterAttitudeControl::run()
 			if (_v_control_mode.flag_control_attitude_enabled && _vehicle_status.is_rotary_wing) {
 				if (attitude_updated) {
 					// Generate the attitude setpoint from stick inputs if we are in Manual/Stabilized mode
+					// For Tailsitters doing transitions the attitude setpoint is generated in tailsitter.cpp
 					if (_v_control_mode.flag_control_manual_enabled &&
 							!_v_control_mode.flag_control_altitude_enabled &&
 							!_v_control_mode.flag_control_velocity_enabled &&
-							!_v_control_mode.flag_control_position_enabled) {
+							!_v_control_mode.flag_control_position_enabled &&
+							!(_vtol_type.get() == vtol_type::TAILSITTER && _vehicle_status.in_transition_mode)) {
 						generate_attitude_setpoint(attitude_dt, reset_yaw_sp);
 						attitude_setpoint_generated = true;
 					}