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Copter: Note that this process is for SOLO

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muramura 2023-05-21 08:24:54 +09:00 committed by Randy Mackay
parent 1ab985fff8
commit b153a90430
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/mode_brake.cpp
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@ -61,6 +61,7 @@ void ModeBrake::run()
pos_control->set_pos_target_z_from_climb_rate_cm(0.0f); pos_control->set_pos_target_z_from_climb_rate_cm(0.0f);
pos_control->update_z_controller(); pos_control->update_z_controller();
// MAV_CMD_SOLO_BTN_PAUSE_CLICK (Solo only) is used to set the timeout.
if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) { if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) { if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT); copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT);
@ -68,6 +69,16 @@ void ModeBrake::run()
} }
} }
/**
* 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) void ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
{ {
_timeout_start = millis(); _timeout_start = millis();