Copter: PosHold brake angle converted to deg

Author: rmackay9

ArduCopter/Parameters.cpp

@@ -275,22 +275,13 @@ const AP_Param::Info Copter::var_info[] = {
     GSCALAR(disarm_delay, "DISARM_DELAY",           AUTO_DISARMING_DELAY),
 
 #if MODE_POSHOLD_ENABLED
-    // @Param: PHLD_BRAKE_RATE
+    // @Param: PHLD_BRK_RATE
     // @DisplayName: PosHold braking rate
     // @Description: PosHold flight mode's rotation rate during braking in deg/sec
     // @Units: deg/s
     // @Range: 4 12
     // @User: Advanced
-    GSCALAR(poshold_brake_rate_degs, "PHLD_BRAKE_RATE",  POSHOLD_BRAKE_RATE_DEFAULT),
-
-    // @Param: PHLD_BRAKE_ANGLE
-    // @DisplayName: PosHold braking angle max
-    // @Description: PosHold flight mode's max lean angle during braking in centi-degrees
-    // @Units: cdeg
-    // @Increment: 10
-    // @Range: 2000 4500
-    // @User: Advanced
-    GSCALAR(poshold_brake_angle_max, "PHLD_BRAKE_ANGLE",  POSHOLD_BRAKE_ANGLE_DEFAULT),
+    GSCALAR(poshold_brake_rate_degs, "PHLD_BRK_RATE",  POSHOLD_BRAKE_RATE_DEFAULT),
 #endif
 
     // @Param: LAND_REPOSITION
@@ -1170,6 +1161,12 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @Path: mode_land.cpp
     AP_SUBGROUPPTR(mode_land_ptr, "LAND_", 15, ParametersG2, ModeLand),
 
+#if MODE_POSHOLD_ENABLED
+    // @Group: PHLD_
+    // @Path: mode_poshold.cpp
+    AP_SUBGROUPPTR(mode_poshold_ptr, "PHLD_", 16, ParametersG2, ModePosHold),
+#endif
+
     // ID 62 is reserved for the AP_SUBGROUPEXTENSION
 
     AP_GROUPEND
@@ -1236,6 +1233,9 @@ ParametersG2::ParametersG2(void) :
     ,mode_rtl_ptr(&copter.mode_rtl)
 #endif
     ,mode_land_ptr(&copter.mode_land)
+#if MODE_POSHOLD_ENABLED
+    ,mode_poshold_ptr(&copter.mode_poshold)
+#endif
 {
     AP_Param::setup_object_defaults(this, var_info);
     AP_Param::setup_object_defaults(this, var_info2);
@@ -1308,6 +1308,11 @@ void Copter::load_parameters(void)
     // convert LAND parameters
     copter.mode_land.convert_params();
 
+#if MODE_POSHOLD_ENABLED
+    // convert PosHold parameters
+    copter.mode_poshold.convert_params();
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
 }
@@ -1333,8 +1338,8 @@ void Copter::convert_pid_parameters(void)
         { "LOIT_BRK_DELAY", 1.0f },
         { "LOIT_BRK_JRK_M", 2.5f },
         { "LOIT_SPEED_MS", 30.0f },
-        { "PHLD_BRAKE_ANGLE", 800.0f },
-        { "PHLD_BRAKE_RATE", 4.0f },
+        { "PHLD_BRK_ANGLE", 8.0f },
+        { "PHLD_BRK_RATE", 4.0f },
         { "PSC_D_ACC_P", 0.028f },
         { "PSC_NE_VEL_D", 0.0f },
         { "PSC_NE_VEL_I", 0.5f },

ArduCopter/Parameters.h

@@ -123,7 +123,7 @@ class Parameters {
         k_param_rc_14_old,
         k_param_rally,
         k_param_poshold_brake_rate_degs,
-        k_param_poshold_brake_angle_max,
+        k_param_poshold_brake_angle_max,    // deprecated - remove
         k_param_pilot_accel_d_cmss,
         k_param_serial0_baud,           // deprecated - remove
         k_param_serial1_baud,           // deprecated - remove
@@ -412,7 +412,6 @@ class Parameters {
 
 #if MODE_POSHOLD_ENABLED
     AP_Int16        poshold_brake_rate_degs;    // PosHold flight mode's rotation rate during braking in deg/sec
-    AP_Int16        poshold_brake_angle_max;    // PosHold flight mode's max lean angle during braking in centi-degrees
 #endif
 
     // Waypoints
@@ -702,6 +701,11 @@ class ParametersG2 {
 #endif
 
     void *mode_land_ptr;
+
+#if MODE_POSHOLD_ENABLED
+    void *mode_poshold_ptr;
+#endif
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/config.h

@@ -492,8 +492,8 @@
  # define POSHOLD_BRAKE_RATE_DEFAULT    8       // default POSHOLD_BRAKE_RATE param value.  Rotation rate during braking in deg/sec
  # define POSHOLD_BRAKE_RATE_MIN        4       // default POSHOLD_BRAKE_RATE param value.  Rotation rate during braking in deg/sec
 #endif
-#ifndef POSHOLD_BRAKE_ANGLE_DEFAULT
- # define POSHOLD_BRAKE_ANGLE_DEFAULT   3000    // default POSHOLD_BRAKE_ANGLE param value.  Max lean angle during braking in centi-degrees
+#ifdef POSHOLD_BRAKE_ANGLE_DEFAULT
+ #error "POSHOLD_BRAKE_ANGLE_DEFAULT definition replaced with POSHOLD_BRAKE_ANGLE_DEG_DEFAULT (in degrees)"
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/mode.h

@@ -1394,8 +1394,8 @@ class ModeLoiter : public Mode {
 class ModePosHold : public Mode {
 
 public:
-    // inherit constructor
-    using Mode::Mode;
+    // need a constructor for parameters
+    ModePosHold(void);
     Number mode_number() const override { return Number::POSHOLD; }
 
     bool init(bool ignore_checks) override;
@@ -1409,13 +1409,22 @@ class ModePosHold : public Mode {
     bool allows_autotune() const override { return true; }
     bool allows_auto_trim() const override { return true; }
 
+    // convert parameters
+    void convert_params();
+
+    // mode specific parameter variable table
+    static const struct AP_Param::GroupInfo var_info[];
+
 protected:
 
     const char *name() const override { return "Position Hold"; }
     const char *name4() const override { return "PHLD"; }
 
 private:
 
+    // parameters
+    AP_Float brake_angle_max_deg;   // max lean angle (in degrees) during braking
+
     void update_pilot_lean_angle_rad(float &lean_angle_filtered_rad, float &lean_angle_raw_rad);
     float mix_controls(float mix_ratio, float first_control, float second_control);
     void update_brake_angle_from_velocity(float &brake_angle_rad, float velocity_ms);

ArduCopter/mode_poshold.cpp

@@ -21,6 +21,48 @@
 #define POSHOLD_WIND_COMP_ESTIMATE_SPEED_MAX_MS 0.10            // wind compensation estimates will only run when velocity is at or below this speed in cm/s
 #define POSHOLD_WIND_COMP_LEAN_PCT_MAX          0.6666f         // wind compensation no more than 2/3rds of angle max to ensure pilot can always override
 
+#ifndef POSHOLD_BRAKE_ANGLE_DEG_DEFAULT
+ # define POSHOLD_BRAKE_ANGLE_DEG_DEFAULT       30      // default PHLD_BRK_ANGLE param value.  Max lean angle during braking in degrees
+#endif
+
+// table of user settable parameters
+const AP_Param::GroupInfo ModePosHold::var_info[] = {
+
+    // @Param: BRK_ANGLE
+    // @DisplayName: PosHold braking angle max
+    // @Description: PosHold flight mode's max lean angle during braking in degrees
+    // @Units: deg
+    // @Increment: 1
+    // @Range: 20 45
+    // @User: Advanced
+    AP_GROUPINFO("BRK_ANGLE", 1, ModePosHold, brake_angle_max_deg,  POSHOLD_BRAKE_ANGLE_DEG_DEFAULT),
+
+    AP_GROUPEND
+};
+
+// constructor
+ModePosHold::ModePosHold() : Mode()
+{
+    // load parameter defaults
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+// convert parameters
+void ModePosHold::convert_params()
+{
+    // PARAMETER_CONVERSION - Added: Feb 2026
+
+    // return immediately if parameter conversion has already been performed
+    if (brake_angle_max_deg.configured()) {
+        return;
+    }
+
+    static const AP_Param::ConversionInfo conversion_info[] = {
+        { Parameters::k_param_poshold_brake_angle_max, 0, AP_PARAM_INT16, "PHLD_BRK_ANGLE" },   // PHLD_BRAKE_ANGLE moved to PHLD_BRK_ANGLE
+    };
+    AP_Param::convert_old_parameters_scaled(conversion_info, ARRAY_SIZE(conversion_info), 0.01, 0);
+}
+
 // poshold_init - initialise PosHold controller
 bool ModePosHold::init(bool ignore_checks)
 {
@@ -293,7 +335,7 @@ void ModePosHold::run()
                 // initialise BRAKE mode
                 pitch_mode = RPMode::BRAKE;         // set brake pitch mode
                 brake.pitch_rad = 0.0f;             // initialise braking angle to zero
-                brake.angle_max_pitch_rad = 0.0f;   // reset brake_angle_max so we can detect when vehicle begins to flatten out during braking
+                brake.angle_max_pitch_rad = 0.0f;   // reset brake_angle_max_deg so we can detect when vehicle begins to flatten out during braking
                 brake.start_time_pitch_ms = now_ms; // timestamp (ms) marking the start of pitch-axis 
                 brake.time_updated_pitch = false;   // flag the braking time can be re-estimated
             }
@@ -535,7 +577,7 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle_rad, float
     brake_angle_rad = constrain_float(lean_angle_rad, brake_angle_rad - brake_delta_rad, brake_angle_rad + brake_delta_rad);
 
     // constrain final brake_angle
-    const float brake_angle_max_rad = cd_to_rad(g.poshold_brake_angle_max);
+    const float brake_angle_max_rad = radians(brake_angle_max_deg);
     brake_angle_rad = constrain_float(brake_angle_rad, -brake_angle_max_rad, brake_angle_max_rad);
 }