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