ardupilot/ArduCopter/mode_brake.cpp

89 lines
2.7 KiB
C++
Raw Normal View History

#include "Copter.h"
#if MODE_BRAKE_ENABLED == ENABLED
/*
* Init and run calls for brake flight mode
*/
2015-05-17 00:22:20 -03:00
// brake_init - initialise brake controller
bool ModeBrake::init(bool ignore_checks)
{
2021-05-11 01:42:02 -03:00
// initialise pos controller speed and acceleration
2021-10-20 05:29:57 -03:00
pos_control->set_max_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE);
pos_control->set_correction_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE);
2021-05-11 01:42:02 -03:00
// initialise position controller
pos_control->init_xy_controller();
2021-05-19 11:07:38 -03:00
// set vertical speed and acceleration limits
2021-05-11 01:42:02 -03:00
pos_control->set_max_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE);
pos_control->set_correction_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE);
2021-05-19 11:07:38 -03:00
// initialise the vertical position controller
if (!pos_control->is_active_z()) {
2021-05-11 01:42:02 -03:00
pos_control->init_z_controller();
}
_timeout_ms = 0;
2016-01-05 02:12:25 -04:00
return true;
}
2015-05-17 00:22:20 -03:00
// brake_run - runs the brake controller
// should be called at 100hz or more
void ModeBrake::run()
{
// if not armed set throttle to zero and exit immediately
2019-04-08 05:15:57 -03:00
if (is_disarmed_or_landed()) {
make_safe_ground_handling();
2021-05-11 01:42:02 -03:00
pos_control->relax_z_controller(0.0f);
return;
}
// set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// relax stop target if we might be landed
if (copter.ap.land_complete_maybe) {
pos_control->soften_for_landing_xy();
2015-05-17 02:28:55 -03:00
}
2019-06-12 03:42:55 -03:00
// use position controller to stop
2021-06-21 04:22:48 -03:00
Vector2f vel;
Vector2f accel;
2021-05-11 01:42:02 -03:00
pos_control->input_vel_accel_xy(vel, accel);
2019-06-12 03:42:55 -03:00
pos_control->update_xy_controller();
// call attitude controller
2021-05-11 01:42:02 -03:00
attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0f);
pos_control->set_pos_target_z_from_climb_rate_cm(0.0f);
pos_control->update_z_controller();
2016-01-05 02:12:25 -04:00
// MAV_CMD_SOLO_BTN_PAUSE_CLICK (Solo only) is used to set the timeout.
if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT);
2016-01-05 02:12:25 -04:00
}
}
}
/**
* Set a timeout for the brake mode
*
* @param timeout_ms [in] timeout in milliseconds
*
* @note MAV_CMD_SOLO_BTN_PAUSE_CLICK (Solo only) is used to set the timeout.
* If the timeout is reached, the mode will switch to loiter or alt hold depending on the current mode.
* If timeout_ms is 0, the timeout is disabled.
*
*/
void ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
2016-01-05 02:12:25 -04:00
{
_timeout_start = millis();
_timeout_ms = timeout_ms;
}
#endif