mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-02-08 14:12:53 +08:00
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
#include "Copter.h"
|
|
|
|
#if MODE_BRAKE_ENABLED
|
|
|
|
/*
|
|
* Init and run calls for brake flight mode
|
|
*/
|
|
|
|
// brake_init - initialise brake controller
|
|
bool ModeBrake::init(bool ignore_checks)
|
|
{
|
|
// initialise pos controller speed and acceleration
|
|
pos_control->NE_set_max_speed_accel_m(pos_control->get_vel_estimate_NED_ms().xy().length(), BRAKE_MODE_DECEL_RATE_MSS);
|
|
pos_control->NE_set_correction_speed_accel_m(pos_control->get_vel_estimate_NED_ms().xy().length(), BRAKE_MODE_DECEL_RATE_MSS);
|
|
|
|
// initialise position controller
|
|
pos_control->NE_init_controller();
|
|
|
|
// set vertical speed and acceleration limits
|
|
pos_control->D_set_max_speed_accel_m(BRAKE_MODE_SPEED_Z_MS, BRAKE_MODE_SPEED_Z_MS, BRAKE_MODE_DECEL_RATE_MSS);
|
|
pos_control->D_set_correction_speed_accel_m(BRAKE_MODE_SPEED_Z_MS, BRAKE_MODE_SPEED_Z_MS, BRAKE_MODE_DECEL_RATE_MSS);
|
|
|
|
// initialise the vertical position controller
|
|
if (!pos_control->D_is_active()) {
|
|
pos_control->D_init_controller();
|
|
}
|
|
|
|
_timeout_ms = 0;
|
|
|
|
return true;
|
|
}
|
|
|
|
// brake_run - runs the brake controller
|
|
// should be called at 100hz or more
|
|
void ModeBrake::run()
|
|
{
|
|
// if not armed set throttle to zero and exit immediately
|
|
if (is_disarmed_or_landed()) {
|
|
make_safe_ground_handling();
|
|
pos_control->D_relax_controller(0.0f);
|
|
return;
|
|
}
|
|
|
|
// set motors to full range
|
|
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
|
|
|
|
// relax stop target if we might be landed
|
|
if (copter.ap.land_complete_maybe) {
|
|
pos_control->NE_soften_for_landing();
|
|
}
|
|
|
|
// use position controller to stop
|
|
Vector2f vel;
|
|
Vector2f accel;
|
|
pos_control->input_vel_accel_NE_m(vel, accel);
|
|
pos_control->NE_update_controller();
|
|
|
|
// call attitude controller
|
|
attitude_control->input_thrust_vector_rate_heading_rads(pos_control->get_thrust_vector(), 0.0f);
|
|
|
|
pos_control->D_set_pos_target_from_climb_rate_ms(0.0f);
|
|
pos_control->D_update_controller();
|
|
|
|
// MAV_CMD_SOLO_BTN_PAUSE_CLICK (Solo only) is used to set the timeout.
|
|
if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
|
|
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::BRAKE_TIMEOUT)) {
|
|
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::BRAKE_TIMEOUT);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Set a timeout for the brake mode
|
|
*
|
|
* @param timeout_ms [in] timeout in milliseconds
|
|
*
|
|
* @note MAV_CMD_SOLO_BTN_PAUSE_CLICK (Solo only) is used to set the timeout.
|
|
* If the timeout is reached, the mode will switch to loiter or alt hold depending on the current mode.
|
|
* If timeout_ms is 0, the timeout is disabled.
|
|
*
|
|
*/
|
|
void ModeBrake::timeout_to_loiter_ms(uint32_t timeout_ms)
|
|
{
|
|
_timeout_start = millis();
|
|
_timeout_ms = timeout_ms;
|
|
}
|
|
|
|
#endif
|