added which transition the vtol is in to vehicle status

msg/vehicle_status.msg

@@ -55,6 +55,7 @@ bool is_rotary_wing			# True if system is in rotary wing configuration, so for a
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if vtol should stabilize attitude for fw in manual mode
 bool in_transition_mode			# True if VTOL is doing a transition
+bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 
 bool rc_signal_lost				# true if RC reception lost
 uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.

msg/vtol_vehicle_status.msg

@@ -7,6 +7,7 @@ uint8 VEHICLE_VTOL_STATE_FW = 4
 
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
+bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe	# vtol in transition failsafe mode
 bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
 float32 airspeed_tot			# Estimated airspeed over control surfaces

src/modules/commander/commander.cpp

@@ -1946,6 +1946,7 @@ int commander_thread_main(int argc, char *argv[])
 			if (is_vtol(&status)) {
 				status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
 				status.in_transition_mode = vtol_status.vtol_in_trans_mode;
+				status.in_transition_to_fw = vtol_status.in_transition_to_fw;
 				status_flags.vtol_transition_failure = vtol_status.vtol_transition_failsafe;
 				status_flags.vtol_transition_failure_cmd = vtol_status.vtol_transition_failsafe;
 			}

src/modules/mavlink/mavlink_messages.cpp

@@ -3196,21 +3196,17 @@ protected:
 			updated = true;
 
 			if (status.is_vtol) {
-				if (status.is_rotary_wing) {
+				if (!status.in_transition_mode && status.is_rotary_wing) {
-					if (status.in_transition_mode) {
+					_msg.vtol_state = MAV_VTOL_STATE_MC;
-						_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_FW;
 
-					} else {
+				} else if (!status.in_transition_mode){
-						_msg.vtol_state = MAV_VTOL_STATE_MC;
+					_msg.vtol_state = MAV_VTOL_STATE_FW;
-					}
 
-				} else {
+				} else if (status.in_transition_mode && status.in_transition_to_fw) {
-					if (status.in_transition_mode) {
+					_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_FW;
-						_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_MC;
 
-					} else {
+				} else if (status.in_transition_mode) {
-						_msg.vtol_state = MAV_VTOL_STATE_FW;
+					_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_MC;
-					}
 				}
 			}
 		}

src/modules/vtol_att_control/standard.cpp

@@ -223,8 +223,11 @@ void Standard::update_vtol_state()
 		break;
 
 	case TRANSITION_TO_FW:
+		_vtol_mode = mode::TRANSITION_TO_MC;
+		break;
+
 	case TRANSITION_TO_MC:
-		_vtol_mode = TRANSITION;
+		_vtol_mode = mode::TRANSITION_TO_FW;
 		break;
 	}
 }

src/modules/vtol_att_control/tailsitter.cpp

@@ -215,15 +215,17 @@ void Tailsitter::update_vtol_state()
 		break;
 
 	case TRANSITION_FRONT_P1:
-		_vtol_mode = TRANSITION;
+		_vtol_mode = TRANSITION_TO_FW;
 		_vtol_vehicle_status->vtol_in_trans_mode = true;
+		break;
 
 	case TRANSITION_FRONT_P2:
-		_vtol_mode = TRANSITION;
+		_vtol_mode = TRANSITION_TO_FW;
 		_vtol_vehicle_status->vtol_in_trans_mode = true;
+		break;
 
 	case TRANSITION_BACK:
-		_vtol_mode = TRANSITION;
+		_vtol_mode = TRANSITION_TO_MC;
 		_vtol_vehicle_status->vtol_in_trans_mode = true;
 		break;
 	}
@@ -482,7 +484,8 @@ void Tailsitter::fill_actuator_outputs()
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];	// throttle
 		break;
 
-	case TRANSITION:
+	case TRANSITION_TO_FW:
+	case TRANSITION_TO_MC:
 		// in transition engines are mixed by weight (BACK TRANSITION ONLY)
 		_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
 		_actuators_out_1->timestamp = _actuators_mc_in->timestamp;

src/modules/vtol_att_control/tiltrotor.cpp

@@ -244,8 +244,11 @@ void Tiltrotor::update_vtol_state()
 
 	case TRANSITION_FRONT_P1:
 	case TRANSITION_FRONT_P2:
+		_vtol_mode = TRANSITION_TO_MC;
+		break;
+
 	case TRANSITION_BACK:
-		_vtol_mode = TRANSITION;
+		_vtol_mode = TRANSITION_TO_MC;
 		break;
 	}
 }

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -735,13 +735,12 @@ void VtolAttitudeControl::task_main()
 
 			} else if (_vtol_type->get_mode() == FIXED_WING) {
 				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
-			}
 
-			/* 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
-			 * fixed-wing on the switch from manual to auto */
 			} else if (_vtol_type->get_mode() == TRANSITION_TO_MC) {
-				_transition_command = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+				/* 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
+				 * fixed-wing on the switch from manual to auto */
+				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
 			}
 		}
 
@@ -775,10 +774,11 @@ void VtolAttitudeControl::task_main()
 				fill_fw_att_rates_sp();
 			}
 
-		} else if (_vtol_type->get_mode() == TRANSITION) {
+		} else if (_vtol_type->get_mode() == TRANSITION_TO_MC || _vtol_type->get_mode() == TRANSITION_TO_FW) {
 			// vehicle is doing a transition
 			_vtol_vehicle_status.vtol_in_trans_mode = true;
 			_vtol_vehicle_status.vtol_in_rw_mode = true; //making mc attitude controller work during transition
+			_vtol_vehicle_status.in_transition_to_fw = _vtol_type->get_mode() == TRANSITION_TO_FW;
 
 			bool got_new_data = false;
 

src/modules/vtol_att_control/vtol_type.h

@@ -65,7 +65,8 @@ struct Params {
 enum mode {
 	ROTARY_WING = 0,
 	FIXED_WING,
-	TRANSITION,
+	TRANSITION_TO_FW,
+	TRANSITION_TO_MC,
 	EXTERNAL
 };