ardupilot/ArduCopter/control_brake.cpp

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#include "Copter.h"
/*
* Init and run calls for brake flight mode
*/
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// brake_init - initialise brake controller
bool Copter::brake_init(bool ignore_checks)
{
if (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(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
pos_control->set_accel_z(BRAKE_MODE_DECEL_RATE);
// initialise position and desired velocity
if (!pos_control->is_active_z()) {
pos_control->set_alt_target_to_current_alt();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
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brake_timeout_ms = 0;
return true;
}else{
return false;
}
}
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// brake_run - runs the brake controller
// should be called at 100hz or more
void Copter::brake_run()
{
// if not auto armed set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
attitude_control->set_throttle_out(0,false,g.throttle_filt);
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#else
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
pos_control->relax_alt_hold_controllers(0.0f);
return;
}
// relax stop target if we might be landed
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if (ap.land_complete_maybe) {
wp_nav->loiter_soften_for_landing();
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}
// if landed immediately disarm
if (ap.land_complete) {
init_disarm_motors();
}
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// set motors to full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run brake controller
wp_nav->update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f, get_smoothing_gain());
// 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_ff(0.0f, G_Dt, false);
pos_control->update_z_controller();
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if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
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}
}
}
void Copter::brake_timeout_to_loiter_ms(uint32_t timeout_ms)
{
brake_timeout_start = millis();
brake_timeout_ms = timeout_ms;
}