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Copter: add brake_timeout_to_loiter_ms

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This commit is contained in:
Jonathan Challinger 2016-01-04 22:12:25 -08:00 committed by Randy Mackay
parent 14e2fa5642
commit c99cac773b
2 changed files with 20 additions and 0 deletions
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5
ArduCopter/Copter.h
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@ -375,6 +375,10 @@ private:
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
uint32_t loiter_time; // How long have we been loitering - The start time in millis
// Brake
uint32_t brake_timeout_start;
uint32_t brake_timeout_ms;
// Flip
Vector3f flip_orig_attitude; // original copter attitude before flip
@ -761,6 +765,7 @@ private:
void adsb_handle_vehicle_threats(void);
bool brake_init(bool ignore_checks);
void brake_run();
void brake_timeout_to_loiter_ms(uint32_t timeout_ms);
bool circle_init(bool ignore_checks);
void circle_run();
bool drift_init(bool ignore_checks);

15
ArduCopter/control_brake.cpp
View File

@ -25,6 +25,8 @@ bool Copter::brake_init(bool ignore_checks)
pos_control.set_alt_target(inertial_nav.get_altitude());
pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
brake_timeout_ms = 0;
return true;
}else{
return false;
@ -75,4 +77,17 @@ void Copter::brake_run()
// 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();
if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms)
{
if(!set_mode(LOITER)) {
set_mode(ALT_HOLD);
}
}
}
void Copter::brake_timeout_to_loiter_ms(uint32_t timeout_ms)
{
brake_timeout_start = millis();
brake_timeout_ms = timeout_ms;
}