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Copter: rename stop to brake

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This commit is contained in:
Randy Mackay 2015-05-17 12:22:20 +09:00
parent 0077cac1b7
commit 7acdcd8905
5 changed files with 23 additions and 20 deletions
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4
ArduCopter/GCS_Mavlink.pde
View File

@ -63,7 +63,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
case GUIDED: case GUIDED:
case CIRCLE: case CIRCLE:
case POSHOLD: case POSHOLD:
case STOP: case BRAKE:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal // APM does in any mode, as that is defined as "system finds its own goal
@ -174,7 +174,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
case LAND: case LAND:
case OF_LOITER: case OF_LOITER:
case POSHOLD: case POSHOLD:
case STOP: case BRAKE:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break; break;

4
ArduCopter/config.h
View File

@ -580,8 +580,8 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Stop mode defaults // Stop mode defaults
// //
#ifndef STOP_MODE_DECEL_RATE #ifndef BRAKE_MODE_DECEL_RATE
# define STOP_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Stop Mode # define BRAKE_MODE_DECEL_RATE 750 // acceleration rate in cm/s/s in Brake Mode
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

20
ArduCopter/control_stop.pde → ArduCopter/control_brake.pde
View File

@ -1,11 +1,11 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/* /*
* control_stop.pde - init and run calls for stop flight mode * control_brake.pde - init and run calls for brake flight mode
*/ */
// stop_init - initialise stop controller // brake_init - initialise brake controller
static bool stop_init(bool ignore_checks) static bool brake_init(bool ignore_checks)
{ {
if (position_ok() || optflow_position_ok() || ignore_checks) { if (position_ok() || optflow_position_ok() || ignore_checks) {
@ -13,11 +13,11 @@ static bool stop_init(bool ignore_checks)
wp_nav.clear_pilot_desired_acceleration(); wp_nav.clear_pilot_desired_acceleration();
// set target to current position // set target to current position
wp_nav.init_stop_target(STOP_MODE_DECEL_RATE); wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
// initialize vertical speed and acceleration // initialize vertical speed and acceleration
pos_control.set_speed_z(0, 0); pos_control.set_speed_z(0, 0);
pos_control.set_accel_z(STOP_MODE_DECEL_RATE); pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);
// initialise altitude target to stopping point // initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z(); pos_control.set_target_to_stopping_point_z();
@ -28,16 +28,16 @@ static bool stop_init(bool ignore_checks)
} }
} }
// stop_run - runs the stop controller // brake_run - runs the brake controller
// should be called at 100hz or more // should be called at 100hz or more
static void stop_run() static void brake_run()
{ {
float target_yaw_rate = 0; float target_yaw_rate = 0;
float target_climb_rate = 0; float target_climb_rate = 0;
// 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(!ap.auto_armed) {
wp_nav.init_stop_target(STOP_MODE_DECEL_RATE); wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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);
return; return;
@ -52,8 +52,8 @@ static void stop_run()
// ToDo: What do we do here? // ToDo: What do we do here?
} }
// run stop controller // run brake controller
wp_nav.update_stop(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);

2
ArduCopter/defines.h
View File

@ -106,7 +106,7 @@ enum autopilot_modes {
FLIP = 14, // automatically flip the vehicle on the roll axis FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
STOP = 17 // full-stop using inertial/GPS system, no pilot input BRAKE = 17 // full-brake using inertial/GPS system, no pilot input
}; };
// Tuning enumeration // Tuning enumeration

13
ArduCopter/flight_mode.pde
View File

@ -89,8 +89,8 @@ static bool set_mode(uint8_t mode)
break; break;
#endif #endif
case STOP: case BRAKE:
success = stop_init(ignore_checks); success = brake_init(ignore_checks);
break; break;
default: default:
@ -202,8 +202,8 @@ static void update_flight_mode()
break; break;
#endif #endif
case STOP: case BRAKE:
stop_run(); brake_run();
break; break;
} }
} }
@ -254,7 +254,7 @@ static bool mode_requires_GPS(uint8_t mode) {
case CIRCLE: case CIRCLE:
case DRIFT: case DRIFT:
case POSHOLD: case POSHOLD:
case STOP: case BRAKE:
return true; return true;
default: default:
return false; return false;
@ -355,6 +355,9 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case POSHOLD: case POSHOLD:
port->print_P(PSTR("POSHOLD")); port->print_P(PSTR("POSHOLD"));
break; break;
case BRAKE:
port->print_P(PSTR("BRAKE"));
break;
default: default:
port->printf_P(PSTR("Mode(%u)"), (unsigned)mode); port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
break; break;