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Copter: brake sets desired spool state

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Leonard Hall 2016-01-13 16:09:42 +09:00 committed by Randy Mackay
parent 7366bc8a56
commit 07b311f6a8
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/control_brake.cpp
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@ -36,13 +36,15 @@ bool Copter::brake_init(bool ignore_checks)
void Copter::brake_run() void Copter::brake_run()
{ {
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed) { if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE); wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw #if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller // call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain()); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt); attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else // multicopters do not stabilize roll/pitch/yaw when disarmed #else
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif #endif
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average); pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
@ -59,6 +61,9 @@ void Copter::brake_run()
init_disarm_motors(); init_disarm_motors();
} }
// set motors to full range
motors.set_desired_spool_state(AP_MotorsMulticopter::DESIRED_THROTTLE_UNLIMITED);
// run brake controller // run brake controller
wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);