mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.3 KiB
C++
79 lines
2.3 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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// initialise pos controller speed and acceleration
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pos_control->set_max_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE);
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pos_control->set_correction_speed_accel_xy(inertial_nav.get_velocity_neu_cms().length(), BRAKE_MODE_DECEL_RATE);
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// initialise position controller
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pos_control->init_xy_controller();
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE);
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pos_control->set_correction_speed_accel_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z, BRAKE_MODE_DECEL_RATE);
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// initialise the vertical position controller
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if (!pos_control->is_active_z()) {
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pos_control->init_z_controller();
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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_ground_handling();
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pos_control->relax_velocity_controller_xy();
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pos_control->relax_z_controller(0.0f);
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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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Vector2f vel;
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Vector2f accel;
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pos_control->input_vel_accel_xy(vel, accel);
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pos_control->update_xy_controller();
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// call attitude controller
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attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0f);
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pos_control->set_pos_target_z_from_climb_rate_cm(0.0f);
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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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#endif
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