mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Copter.h"
|
|
|
|
/*
|
|
* control_brake.pde - init and run calls for brake flight mode
|
|
*/
|
|
|
|
// brake_init - initialise brake controller
|
|
bool Copter::brake_init(bool ignore_checks)
|
|
{
|
|
if (position_ok() || optflow_position_ok() || ignore_checks) {
|
|
|
|
// set desired acceleration to zero
|
|
wp_nav.clear_pilot_desired_acceleration();
|
|
|
|
// set target to current position
|
|
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
|
|
|
|
// initialize vertical speed and acceleration
|
|
pos_control.set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
|
|
pos_control.set_accel_z(BRAKE_MODE_DECEL_RATE);
|
|
|
|
// initialise altitude target to stopping point
|
|
pos_control.set_target_to_stopping_point_z();
|
|
|
|
return true;
|
|
}else{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// brake_run - runs the brake controller
|
|
// should be called at 100hz or more
|
|
void Copter::brake_run()
|
|
{
|
|
// if not auto armed set throttle to zero and exit immediately
|
|
if(!ap.auto_armed) {
|
|
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
|
|
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
|
|
// call attitude controller
|
|
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(0, 0, 0, get_smoothing_gain());
|
|
attitude_control.set_throttle_out(0,false,g.throttle_filt);
|
|
#else // multicopters do not stabilize roll/pitch/yaw when disarmed
|
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
|
#endif
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-throttle_average);
|
|
return;
|
|
}
|
|
|
|
// relax stop target if we might be landed
|
|
if (ap.land_complete_maybe) {
|
|
wp_nav.loiter_soften_for_landing();
|
|
}
|
|
|
|
// if landed immediately disarm
|
|
if (ap.land_complete) {
|
|
init_disarm_motors();
|
|
}
|
|
|
|
// run brake controller
|
|
wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// call attitude controller
|
|
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f);
|
|
|
|
// body-frame rate controller is run directly from 100hz loop
|
|
|
|
// update altitude target and call position controller
|
|
pos_control.set_alt_target_from_climb_rate(0.0f, G_Dt, false);
|
|
pos_control.update_z_controller();
|
|
}
|