ardupilot/ArduPlane/parachute.cpp

#include "Plane.h"


/* 
   call parachute library update
*/
void Plane::parachute_check()
{
#if PARACHUTE == ENABLED
    parachute.update();
    parachute.check_sink_rate();
#endif
}

#if PARACHUTE == ENABLED

/*
  parachute_release - trigger the release of the parachute
*/
void Plane::parachute_release()
{
    if (parachute.release_in_progress()) {
        return;
    }
    if (parachute.released()) {
        gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released again");
    } else {
        gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
    }

    // release parachute
    parachute.release();

#if LANDING_GEAR_ENABLED == ENABLED
    // deploy landing gear
    g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
#endif
}

/*
  parachute_manual_release - trigger the release of the parachute,
  after performing some checks for pilot error checks if the vehicle
  is landed
*/
bool Plane::parachute_manual_release()
{
    // exit immediately if parachute is not enabled
    if (!parachute.enabled() || parachute.released()) {
        return false;
    }

    if (parachute.alt_min() > 0 && relative_ground_altitude(false) < parachute.alt_min() &&
            auto_state.last_flying_ms > 0) {
        // Allow manual ground tests by only checking if flying too low if we've taken off
        gcs().send_text(MAV_SEVERITY_WARNING, "Parachute: Too low");
        return false;
    }

    // if we get this far release parachute
    parachute_release();

#if LANDING_GEAR_ENABLED == ENABLED
    // deploy landing gear
    g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
#endif
    return true;    
}
#endif