Copter: set Brake speed to 250

10 years ago · ee3ba48097
2 changed files with 4 additions and 1 deletions
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -595,6 +595,9 @@
				@@ -595,6 +595,9 @@
 //////////////////////////////////////////////////////////////////////////////
 // Stop mode defaults
 //
+#ifndef BRAKE_MODE_SPEED_Z
+ # define BRAKE_MODE_SPEED_Z     250 // z-axis speed in cm/s in Brake Mode
+#endif
 #ifndef BRAKE_MODE_DECEL_RATE
 # define BRAKE_MODE_DECEL_RATE  750 // acceleration rate in cm/s/s in Brake Mode
 #endif
--- a/ArduCopter/control_brake.cpp
+++ b/ArduCopter/control_brake.cpp
@ -18,7 +18,7 @@ bool Copter::brake_init(bool ignore_checks)
				@@ -18,7 +18,7 @@ bool Copter::brake_init(bool ignore_checks)
        wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);

        // initialize vertical speed and acceleration
-        pos_control.set_speed_z(0, 0);
+        pos_control.set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
        pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);

        // initialise altitude target to stopping point