We are currently using v4.1.1 and wont be able to upgrade any sooner due to production constraints, and changes we have made to existing code.
However, I want to add a custom braking feature based on our use case.
My observation is brake mode takes longer distance to stop, compared to loiter mode(zero sticks), for the same initial velocity. Is it normal that my brake mode takes longer distance than loiter mode to stop.
In case not, then what may be the issue. How can I tune the braking performance to meet loiter’s braking performance.
Link to logs having brake mode and loiter mode, along with all the parameters:
https://drive.google.com/file/d/1ysSROr7DtmeBj23lKRjSoLo7-n6OGCck/view?usp=sharing
Probably this difference is due to Loiter having plenty of parameters to tune the flight dynamics for this flight mode, while almost everything in Brake Mode is hardcoded. Something you can do is to include new parameters for your brake flight mode in order to have more flexibility on tuning it (I am supposing you are a developer and knows how to do it).