FlightTaskTransition: fly test changes

src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp

@@ -203,6 +203,8 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
 				// Note this is deceleration (i.e. negative acceleration), and therefore the minus sign is skipped
 				deceleration_sp = vel_body_forward * vel_body_forward / (2.f * dist_body_forward);
 
+				PX4_INFO("Computed deceleration_sp: %f", (double)(deceleration_sp));
+
 				// Check if the deceleration setpoint is finite and within limits
 				if (!PX4_ISFINITE(deceleration_sp)) {
 					deceleration_sp = default_deceleration_sp;
@@ -215,10 +217,13 @@ float FlightTaskTransition::computeBackTranstionPitchSetpoint()
 		}
 	}
 
+	PX4_INFO("Applied deceleration_sp: %f", (double)(deceleration_sp));
+
 	// get accel error, positive means decelerating too slow, need to pitch up (must reverse accel_body_forward, as it is a positive number)
 	float deceleration_error = deceleration_sp - (-accel_body_forward);
 
 	float pitch_sp_new = _decel_error_bt_int;
+	PX4_INFO("Pitch setpoint: %f", (double)(math::degrees(pitch_sp_new)));
 
 	updateBackTransitioDecelerationErrorIntegrator(deceleration_error);
 

src/modules/vtol_att_control/standard.cpp

@@ -239,7 +239,12 @@ void Standard::update_transition_state()
 
 	} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
 
-		const Quatf q_sp(Eulerf(roll_body, pitch_body, yaw_body));
+		if (_v_control_mode->flag_control_climb_rate_enabled) {
+			// control backtransition deceleration using pitch.
+			_v_att_sp->pitch_body = Eulerf(Quatf(_mc_virtual_att_sp->q_d)).theta();
+		}
+		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);
 
 		_pusher_throttle = 0.0f;