mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.0 KiB
C++
93 lines
3.0 KiB
C++
#include "Copter.h"
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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 Copter::brake_init(bool ignore_checks)
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{
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if (position_ok() || ignore_checks) {
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// set desired acceleration to zero
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wp_nav->clear_pilot_desired_acceleration();
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// set target to current position
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wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
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// initialize vertical speed and acceleration
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pos_control->set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
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pos_control->set_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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brake_timeout_ms = 0;
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return true;
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}else{
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return false;
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}
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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 Copter::brake_run()
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{
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// if not auto armed set throttle to zero and exit immediately
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if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
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wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
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attitude_control->set_throttle_out(0,false,g.throttle_filt);
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#else
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motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control->set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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pos_control->relax_alt_hold_controllers(0.0f);
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return;
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}
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// relax stop target if we might be landed
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if (ap.land_complete_maybe) {
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wp_nav->loiter_soften_for_landing();
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}
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// if landed immediately disarm
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if (ap.land_complete) {
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init_disarm_motors();
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}
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// set motors to full range
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motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run brake controller
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wp_nav->update_brake(ekfGndSpdLimit, ekfNavVelGainScaler);
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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, get_smoothing_gain());
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// body-frame rate controller is run directly from 100hz loop
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// update altitude target and call position controller
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pos_control->set_alt_target_from_climb_rate_ff(0.0f, G_Dt, false);
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pos_control->update_z_controller();
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if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
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if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
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set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
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}
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}
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}
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void Copter::brake_timeout_to_loiter_ms(uint32_t timeout_ms)
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{
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brake_timeout_start = millis();
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brake_timeout_ms = timeout_ms;
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}
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