2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2015-04-22 18:10:10 -03:00
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/*
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2016-07-25 15:45:29 -03:00
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* Init and run calls for brake flight mode
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2015-04-22 18:10:10 -03:00
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*/
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2015-05-17 00:22:20 -03:00
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// brake_init - initialise brake controller
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2017-12-10 23:51:13 -04:00
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bool Copter::ModeBrake::init(bool ignore_checks)
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2015-04-22 18:10:10 -03:00
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{
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2018-02-07 22:21:09 -04:00
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if (copter.position_ok() || ignore_checks) {
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2015-04-22 18:10:10 -03:00
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// set desired acceleration to zero
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2017-01-09 03:31:26 -04:00
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wp_nav->clear_pilot_desired_acceleration();
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2015-04-22 18:10:10 -03:00
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// set target to current position
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2017-01-09 03:31:26 -04:00
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wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
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2015-04-22 18:10:10 -03:00
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// initialize vertical speed and acceleration
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2017-01-09 03:31:26 -04:00
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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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2015-04-22 18:10:10 -03:00
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2015-10-27 10:06:50 -03:00
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// initialise position and desired velocity
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2017-01-09 03:31:26 -04:00
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if (!pos_control->is_active_z()) {
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pos_control->set_alt_target_to_current_alt();
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pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
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2016-10-14 09:28:32 -03:00
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}
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2015-04-22 18:10:10 -03:00
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2016-03-22 22:00:19 -03:00
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_timeout_ms = 0;
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2016-01-05 02:12:25 -04:00
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2015-04-22 18:10:10 -03:00
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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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2015-05-17 00:22:20 -03:00
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// brake_run - runs the brake controller
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2015-04-22 18:10:10 -03:00
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// should be called at 100hz or more
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2017-12-10 23:51:13 -04:00
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void Copter::ModeBrake::run()
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2015-04-22 18:10:10 -03:00
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{
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// if not auto armed set throttle to zero and exit immediately
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2017-01-09 03:31:26 -04:00
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if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
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wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
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2016-11-17 01:47:41 -04:00
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zero_throttle_and_relax_ac();
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2017-01-09 03:31:26 -04:00
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pos_control->relax_alt_hold_controllers(0.0f);
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2015-04-22 18:10:10 -03:00
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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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2015-05-06 01:38:38 -03:00
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if (ap.land_complete_maybe) {
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2017-01-09 03:31:26 -04:00
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wp_nav->loiter_soften_for_landing();
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2015-05-17 02:28:55 -03:00
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}
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// if landed immediately disarm
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if (ap.land_complete) {
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2018-02-07 22:21:09 -04:00
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copter.init_disarm_motors();
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2015-04-22 18:10:10 -03:00
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}
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2016-01-13 03:09:42 -04:00
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// set motors to full range
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2017-01-09 03:31:26 -04:00
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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2016-01-13 03:09:42 -04:00
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2015-05-17 00:22:20 -03:00
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// run brake controller
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2017-01-09 03:31:26 -04:00
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wp_nav->update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
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2015-04-22 18:10:10 -03:00
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// call attitude controller
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2017-06-26 05:48:04 -03:00
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
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2015-04-22 18:10:10 -03:00
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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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2017-01-09 03:31:26 -04:00
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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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2016-01-05 02:12:25 -04:00
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2016-03-22 22:00:19 -03:00
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if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
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2018-02-07 22:21:09 -04:00
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if (!copter.set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
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copter.set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
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2016-01-05 02:12:25 -04:00
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}
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}
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}
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2017-12-10 23:51:13 -04:00
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void Copter::ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
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2016-01-05 02:12:25 -04:00
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{
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2016-03-22 22:00:19 -03:00
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_timeout_start = millis();
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_timeout_ms = timeout_ms;
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2015-04-22 18:10:10 -03:00
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}
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