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78 lines
2.3 KiB
78 lines
2.3 KiB
#include "Copter.h" |
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#if MODE_BRAKE_ENABLED == ENABLED |
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/* |
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* Init and run calls for brake flight mode |
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*/ |
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// brake_init - initialise brake controller |
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bool ModeBrake::init(bool ignore_checks) |
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{ |
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// initialise pos controller speed and acceleration |
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pos_control->set_max_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE); |
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pos_control->set_correction_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE); |
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// initialise position controller |
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pos_control->init_xy_controller(); |
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// set vertical speed and acceleration limits |
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pos_control->set_max_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE); |
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pos_control->set_correction_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE); |
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// initialise the vertical position controller |
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if (!pos_control->is_active_z()) { |
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pos_control->init_z_controller(); |
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} |
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_timeout_ms = 0; |
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return true; |
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} |
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// brake_run - runs the brake controller |
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// should be called at 100hz or more |
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void ModeBrake::run() |
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{ |
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// if not armed set throttle to zero and exit immediately |
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if (is_disarmed_or_landed()) { |
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make_safe_ground_handling(); |
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pos_control->relax_velocity_controller_xy(); |
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pos_control->relax_z_controller(0.0f); |
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return; |
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} |
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// set motors to full range |
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); |
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// relax stop target if we might be landed |
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if (copter.ap.land_complete_maybe) { |
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loiter_nav->soften_for_landing(); |
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} |
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// use position controller to stop |
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Vector2f vel; |
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Vector2f accel; |
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pos_control->input_vel_accel_xy(vel, accel); |
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pos_control->update_xy_controller(); |
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// call attitude controller |
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attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0f); |
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pos_control->set_pos_target_z_from_climb_rate_cm(0.0f); |
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pos_control->update_z_controller(); |
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if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) { |
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if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) { |
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copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT); |
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} |
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} |
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} |
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void ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms) |
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{ |
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_timeout_start = millis(); |
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_timeout_ms = timeout_ms; |
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} |
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#endif
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