mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.7 KiB
C++
88 lines
2.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Sub.h"
|
|
|
|
/*
|
|
* control_brake.pde - init and run calls for brake flight mode
|
|
*/
|
|
|
|
// brake_init - initialise brake controller
|
|
bool Sub::brake_init(bool ignore_checks)
|
|
{
|
|
if (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 position and desired velocity
|
|
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;
|
|
}
|
|
}
|
|
|
|
// brake_run - runs the brake controller
|
|
// should be called at 100hz or more
|
|
void Sub::brake_run()
|
|
{
|
|
// if not auto armed set throttle to zero and exit immediately
|
|
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
|
|
wp_nav.init_brake_target(BRAKE_MODE_DECEL_RATE);
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
|
|
// multicopters do not stabilize roll/pitch/yaw when disarmed
|
|
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
|
|
|
|
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(0)-motors.get_throttle_hover());
|
|
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();
|
|
}
|
|
|
|
// set motors to full range
|
|
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
|
|
|
|
// run brake controller
|
|
wp_nav.update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
|
|
|
|
// call attitude controller
|
|
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), 0.0f, get_smoothing_gain());
|
|
|
|
// 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_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(POSHOLD, MODE_REASON_BRAKE_TIMEOUT)) {
|
|
set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Sub::brake_timeout_to_loiter_ms(uint32_t timeout_ms)
|
|
{
|
|
brake_timeout_start = millis();
|
|
brake_timeout_ms = timeout_ms;
|
|
}
|