ardupilot/libraries/AP_Parachute/AP_Parachute.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_Parachute.h>
#include <AP_Relay.h>
#include <AP_Math.h>
#include <RC_Channel.h>
#include <AP_Notify.h>
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#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Parachute::var_info[] PROGMEM = {
// @Param: ENABLED
// @DisplayName: Parachute release enabled or disabled
// @Description: Parachute release enabled or disabled
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ENABLED", 0, AP_Parachute, _enabled, 0),
// @Param: TYPE
// @DisplayName: Parachute release mechanism type (relay or servo)
// @Description: Parachute release mechanism type (relay or servo)
// @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
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// @User: Standard
AP_GROUPINFO("TYPE", 1, AP_Parachute, _release_type, AP_PARACHUTE_TRIGGER_TYPE_RELAY_0),
// @Param: SERVO_ON
// @DisplayName: Parachute Servo ON PWM value
// @Description: Parachute Servo PWM value when parachute is released
// @Range: 1000 2000
// @Units: pwm
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_ON", 2, AP_Parachute, _servo_on_pwm, AP_PARACHUTE_SERVO_ON_PWM_DEFAULT),
// @Param: SERVO_OFF
// @DisplayName: Servo OFF PWM value
// @Description: Parachute Servo PWM value when parachute is not released
// @Range: 1000 2000
// @Units: pwm
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_OFF", 3, AP_Parachute, _servo_off_pwm, AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT),
// @Param: ALT_MIN
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// @DisplayName: Parachute min altitude in meters above home
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// @Description: Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
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// @Range: 0 32000
// @Units: Meters
// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT),
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AP_GROUPEND
};
/// enabled - enable or disable parachute release
void AP_Parachute::enabled(bool on_off)
{
_enabled = on_off;
// clear release_time
_release_time = 0;
}
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/// release - release parachute
void AP_Parachute::release()
{
// exit immediately if not enabled
if (_enabled <= 0) {
return;
}
// set release time to current system time
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_release_time = hal.scheduler->millis();
// update AP_Notify
AP_Notify::flags.parachute_release = 1;
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}
/// update - shuts off the trigger should be called at about 10hz
void AP_Parachute::update()
{
// exit immediately if not enabled or parachute not to be released
if (_enabled <= 0) {
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return;
}
// calc time since release
uint32_t time_diff = hal.scheduler->millis() - _release_time;
// check if we should release parachute
if ((_release_time != 0) && !_released) {
if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay
_relay.on(_release_type);
}
_released = true;
}
}else if ((_release_time == 0) || time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS + AP_PARACHUTE_RELEASE_DURATION_MS) {
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if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay back to zero volts
_relay.off(_release_type);
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}
// reset released flag and release_time
_released = false;
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_release_time = 0;
// update AP_Notify
AP_Notify::flags.parachute_release = 0;
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}
}