You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
67 lines
2.0 KiB
67 lines
2.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
/* |
|
* control_brake.pde - init and run calls for brake flight mode |
|
*/ |
|
|
|
// brake_init - initialise brake controller |
|
static bool brake_init(bool ignore_checks) |
|
{ |
|
if (position_ok() || optflow_position_ok() || ignore_checks) { |
|
|
|
// set desired acceleration to zero |
|
wp_nav.clear_pilot_desired_acceleration(); |
|
|
|
// set target to current position |
|
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); |
|
|
|
// initialize vertical speed and acceleration |
|
pos_control.set_speed_z(0, 0); |
|
pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE); |
|
|
|
// initialise altitude target to stopping point |
|
pos_control.set_target_to_stopping_point_z(); |
|
|
|
return true; |
|
}else{ |
|
return false; |
|
} |
|
} |
|
|
|
// brake_run - runs the brake controller |
|
// should be called at 100hz or more |
|
static void brake_run() |
|
{ |
|
float target_yaw_rate = 0; |
|
float target_climb_rate = 0; |
|
|
|
// if not auto armed set throttle to zero and exit immediately |
|
if(!ap.auto_armed) { |
|
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); |
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average); |
|
return; |
|
} |
|
|
|
// relax stop target if we might be landed |
|
if (land_complete_maybe()) { |
|
wp_nav.loiter_soften_for_landing(); |
|
} |
|
|
|
// if landed immediately disarm |
|
if (ap.land_complete) { |
|
init_disarm_motors(); |
|
} |
|
|
|
// run brake controller |
|
wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler); |
|
|
|
// call attitude controller |
|
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); |
|
|
|
// body-frame rate controller is run directly from 100hz loop |
|
|
|
// update altitude target and call position controller |
|
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt); |
|
pos_control.update_z_controller(); |
|
}
|
|
|