Copter: add Hybrid parameters

ArduCopter/Parameters.h

@@ -108,7 +108,9 @@ public:
         k_param_mission,                // mission library
         k_param_rc_13,
         k_param_rc_14,
-        k_param_rally,                  // 45
+        k_param_rally,
+        k_param_hybrid_brake_rate,
+        k_param_hybrid_brake_angle_max, // 47
 
         // 65: AP_Limits Library
         k_param_limits = 65,            // deprecated - remove
@@ -335,6 +337,9 @@ public:
     AP_Float        rssi_range;                 // allows to set max voltage for rssi pin such as 5.0, 3.3 etc. 
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions
     AP_Int8         rc_feel_rp;                 // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
+
+    AP_Int16        hybrid_brake_rate;          // hybrid flight mode's rotation rate during braking in deg/sec
+    AP_Int16        hybrid_brake_angle_max;     // hybrid flight mode's max lean angle during braking in centi-degrees
     
     // Waypoints
     //

ArduCopter/Parameters.pde

@@ -407,6 +407,21 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
     GSCALAR(rc_feel_rp, "RC_FEEL_RP",  RC_FEEL_RP_VERY_CRISP),
 
+    // @Param: HYBR_BRAKE_RATE
+    // @DisplayName: Hybrid braking rate
+    // @Description: hybrid flight mode's rotation rate during braking in deg/sec
+    // @Range: 5 8
+    // @User: Advanced
+    GSCALAR(hybrid_brake_rate, "HYBR_BRAKE_RATE",  HYBRID_BRAKE_RATE_DEFAULT),
+
+    // @Param: HYBR_BRAKE_ANGLE
+    // @DisplayName: Hybrid braking angle max
+    // @Description: hybrid flight mode's max lean angle during braking in centi-degrees
+    // @Units: Centi-degrees
+    // @Range: 500 2000
+    // @User: Advanced
+    GSCALAR(hybrid_brake_angle_max, "HYBR_BRAKE_ANGLE",  HYBRID_BRAKE_ANGLE_DEFAULT),
+
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: HS1_
     // @Path: ../libraries/RC_Channel/RC_Channel.cpp

ArduCopter/config.h

@@ -632,6 +632,16 @@
  # define LOITER_RATE_IMAX       	400             // maximum acceleration from I term build-up in cm/s/s
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Hybrid parameter defaults
+//
+#ifndef HYBRID_BRAKE_RATE_DEFAULT
+ # define HYBRID_BRAKE_RATE_DEFAULT     8       // default HYBRID_BRAKE_RATE param value.  Rotation rate during braking in deg/sec
+#endif
+#ifndef HYBRID_BRAKE_ANGLE_DEFAULT
+ # define HYBRID_BRAKE_ANGLE_DEFAULT    2000    // default HYBRID_BRAKE_ANGLE param value.  Max lean angle during braking in centi-degrees
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Throttle control gains
 //