Allow quadchute from external command

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -108,12 +108,13 @@ public:
 
 	bool is_fixed_wing_requested();
 	void quadchute(const char *reason);
+	int get_transition_command() {return _transition_command;}
 
 	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
 	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
 	struct actuator_controls_s 			*get_actuators_out0() {return &_actuators_out_0;}
 	struct actuator_controls_s 			*get_actuators_out1() {return &_actuators_out_1;}
-	struct airspeed_validated_s 				*get_airspeed() {return &_airspeed_validated;}
+	struct airspeed_validated_s 			*get_airspeed() {return &_airspeed_validated;}
 	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
 	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
 	struct vehicle_attitude_s 			*get_att() {return &_v_att;}

src/modules/vtol_att_control/vtol_type.cpp

@@ -235,6 +235,17 @@ bool VtolType::can_transition_on_ground()
 
 void VtolType::check_quadchute_condition()
 {
+	//TODO: adapt https://mavlink.io/en/messages/common.html#MAV_VTOL_STATE to contain MAV_VTOL_STATE_QC
+	//instead of hardcoded 5.
+	if (_attc->get_transition_command() == 5 && !_quadchute_command_treated) {
+		_attc->quadchute("QuadChute by command");
+		_quadchute_command_treated = true;
+
+	} else {
+		_quadchute_command_treated = false;
+	}
+
+
 
 	if (!_tecs_running) {
 		// reset the filtered height rate and heigh rate setpoint if TECS is not running

src/modules/vtol_att_control/vtol_type.h

@@ -247,6 +247,8 @@ protected:
 
 	float _accel_to_pitch_integ = 0;
 
+	bool _quadchute_command_treated = 0;
+
 
 
 	/**