Copter: PHLD_BRAKE_xxx params renamed and converted to meters#32169
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rmackay9 merged 3 commits intoArduPilot:masterfrom Feb 17, 2026
Merged
Copter: PHLD_BRAKE_xxx params renamed and converted to meters#32169rmackay9 merged 3 commits intoArduPilot:masterfrom
rmackay9 merged 3 commits intoArduPilot:masterfrom
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Pull request overview
This PR updates Copter PosHold braking parameters by renaming them to the newer shortened naming scheme and converting the braking angle parameter from centi-degrees to degrees, including firmware-side parameter conversion for existing setups.
Changes:
- Rename
PHLD_BRAKE_RATE→PHLD_BRK_RATE(units unchanged). - Rename and convert
PHLD_BRAKE_ANGLE(cdeg) →PHLD_BRK_ANGLE(deg), implemented as a mode-specific parameter with an EEPROM conversion path. - Wire PosHold mode parameters into
ParametersG2and invoke PosHold parameter conversion during parameter load.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm | Removes Solo default overrides for PosHold brake params (currently without replacement using new param names/units). |
| libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm | Same as above for Green Cube Solo defaults. |
| Tools/Frame_params/Solo-Copter-GreenCube.param | Removes PosHold brake params from the frame param set (currently without replacement using new names/units). |
| ArduCopter/mode_poshold.cpp | Adds PHLD_BRK_ANGLE as a mode-specific parameter, default initialization, and conversion from the deprecated stored value; updates runtime usage to degrees. |
| ArduCopter/mode.h | Adds ModePosHold constructor and parameter plumbing declarations. |
| ArduCopter/config.h | Removes the old POSHOLD_BRAKE_ANGLE_DEFAULT macro path (now hard-errors if used). |
| ArduCopter/Parameters.h | Removes the old global brake-angle parameter storage and adds a mode_poshold_ptr hook in ParametersG2. |
| ArduCopter/Parameters.cpp | Renames the brake rate parameter name, registers the PosHold subgroup in ParametersG2, calls PosHold conversion during load, and updates TradHeli defaults table names. |
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lthall
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Feb 11, 2026
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Happy for this to go in with the changes.
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rebased on master after BillG's PR has been merged #31843 |
peterbarker
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Feb 17, 2026
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This PR updates two PosHold mode parameters:
This is a follow up to PR #32147 and helps resolve issue #31562
This has been lightly tested in SITL to confirm the vehicle flies correct and also to confirm that the parameter conversion is working correct
