mc_att_control: don't generate attitude setpoint for tailsitters

during a transition - this regression most likely comes from PR PX4#10805 Signed-off-by: Roman <[email protected]>
sfuhrer · Mar 18, 2019 · 96fc01b · 96fc01b
1 parent 91083ea
commit 96fc01b
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
@@ -272,6 +272,8 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 		(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve,				/**< throttle curve behavior */
 
 		(ParamInt<px4::params::MC_AIRMODE>) _airmode
+		(ParamInt<px4::params::VT_TYPE>) _vtol_type
+
 	)
 
 	matrix::Vector3f _attitude_p;		/**< P gain for attitude control */
@@ -287,4 +289,3 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 	float _man_tilt_max;			/**< maximum tilt allowed for manual flight [rad] */
 
 };
-
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/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
 
@@ -900,10 +901,12 @@ 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;
 					}