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73 lines
2.4 KiB
73 lines
2.4 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Copter.h" |
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/* |
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* control_brake.pde - 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 Copter::brake_init(bool ignore_checks) |
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{ |
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if (position_ok() || ignore_checks) { |
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// set desired acceleration to zero |
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wp_nav.clear_pilot_desired_acceleration(); |
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// set target to current position |
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wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); |
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// initialize vertical speed and acceleration |
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pos_control.set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z); |
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pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE); |
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// initialise position and desired velocity |
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pos_control.set_alt_target(inertial_nav.get_altitude()); |
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z()); |
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return true; |
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}else{ |
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return false; |
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} |
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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 Copter::brake_run() |
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{ |
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// if not auto armed set throttle to zero and exit immediately |
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if(!ap.auto_armed) { |
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wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); |
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw |
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// call attitude controller |
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain()); |
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attitude_control.set_throttle_out(0,false,g.throttle_filt); |
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#else // multicopters do not stabilize roll/pitch/yaw when disarmed |
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); |
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#endif |
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pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average); |
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return; |
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} |
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// relax stop target if we might be landed |
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if (ap.land_complete_maybe) { |
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wp_nav.loiter_soften_for_landing(); |
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} |
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// if landed immediately disarm |
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if (ap.land_complete) { |
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init_disarm_motors(); |
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} |
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// run brake controller |
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wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler); |
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// call attitude controller |
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attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f); |
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// body-frame rate controller is run directly from 100hz loop |
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// update altitude target and call position controller |
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pos_control.set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false); |
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pos_control.update_z_controller(); |
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}
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