Overview

The BRAKE parameter group configures the braking behavior for specific flight modes, notably FlowHold in ArduCopter.

Note: The standard "Brake" flight mode uses LOIT_BRK_ parameters. The parameter here (BRAKE_RATE) specifically applies to the FlowHold mode, which is an optical-flow-based loiter that allows the vehicle to drift when sticks are released unless braking is engaged.

Key Concepts

1. FlowHold Braking

In FlowHold mode, the vehicle tracks features on the ground. When the pilot releases the sticks:

• The vehicle attempts to stop its drift.
• BRAKE_RATE limits the maximum pitch/roll angle (or rate) used to achieve this stop.

Parameter Breakdown

• BRAKE_RATE: Maximum braking rate (deg/s) for FlowHold. Higher values mean sharper stops (more like Loiter). Lower values mean smoother, driftier stops.

Integration Guide

• FlowHold: Requires an Optical Flow sensor (e.g., HereFlow, CX-OF).
• Tuning: If the vehicle stops too abruptly in FlowHold, reduce BRAKE_RATE.

Developer Notes

• Library: ArduCopter/mode_flowhold.cpp
• Context: Unique to the FlowHold mode state machine.