mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.9 KiB
C++
97 lines
2.9 KiB
C++
#include "Copter.h"
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#if MODE_BRAKE_ENABLED == ENABLED
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/*
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* Init and run calls for brake flight mode
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*/
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// brake_init - initialise brake controller
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bool ModeBrake::init(bool ignore_checks)
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{
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// set target to current position
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init_target();
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// initialize vertical speed and acceleration
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pos_control->set_max_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
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pos_control->set_max_accel_z(BRAKE_MODE_DECEL_RATE);
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// initialise position and desired velocity
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if (!pos_control->is_active_z()) {
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pos_control->set_alt_target_to_current_alt();
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pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
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}
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_timeout_ms = 0;
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return true;
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}
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// brake_run - runs the brake controller
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// should be called at 100hz or more
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void ModeBrake::run()
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{
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// if not armed set throttle to zero and exit immediately
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if (is_disarmed_or_landed()) {
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make_safe_spool_down();
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init_target();
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return;
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}
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// set motors to full range
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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// relax stop target if we might be landed
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if (copter.ap.land_complete_maybe) {
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loiter_nav->soften_for_landing();
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}
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// use position controller to stop
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pos_control->set_desired_velocity_xy(0.0f, 0.0f);
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pos_control->update_xy_controller();
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0.0f);
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// update altitude target and call position controller
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// protects heli's from inflight motor interlock disable
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if (motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::GROUND_IDLE && !copter.ap.land_complete) {
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pos_control->set_alt_target_from_climb_rate(-abs(g.land_speed), G_Dt, false);
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} else {
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pos_control->set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
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}
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pos_control->update_z_controller();
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if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
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if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) {
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copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT);
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}
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}
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}
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void ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
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{
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_timeout_start = millis();
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_timeout_ms = timeout_ms;
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}
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void ModeBrake::init_target()
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{
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// initialise position controller
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pos_control->set_desired_velocity_xy(0.0f,0.0f);
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pos_control->set_desired_accel_xy(0.0f,0.0f);
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pos_control->init_xy_controller();
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// initialise pos controller speed and acceleration
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pos_control->set_max_speed_xy(inertial_nav.get_velocity().length());
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pos_control->set_max_accel_xy(BRAKE_MODE_DECEL_RATE);
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pos_control->calc_leash_length_xy();
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// set target position
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Vector3f stopping_point;
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pos_control->get_stopping_point_xy(stopping_point);
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pos_control->set_xy_target(stopping_point.x, stopping_point.y);
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}
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#endif
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