ardupilot/libraries/AP_Parachute/AP_Parachute.h

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/// @file AP_Parachute.h
/// @brief Parachute release library
#pragma once
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#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include <AP_Relay/AP_Relay.h>
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2 2
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3 3
#define AP_PARACHUTE_TRIGGER_TYPE_SERVO 10
#define AP_PARACHUTE_RELEASE_DELAY_MS 500 // delay in milliseconds between call to release() and when servo or relay actually moves. Allows for warning to user
#define AP_PARACHUTE_RELEASE_DURATION_MS 2000 // when parachute is released, servo or relay stay at their released position/value for 2000ms (2seconds)
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#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated
#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated
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#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released
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/// @class AP_Parachute
/// @brief Class managing the release of a parachute
class AP_Parachute {
public:
/// Constructor
AP_Parachute(AP_Relay &relay)
: _relay(relay)
{
// setup parameter defaults
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("Rally must be singleton");
}
#endif
_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
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}
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/* Do not allow copies */
AP_Parachute(const AP_Parachute &other) = delete;
AP_Parachute &operator=(const AP_Parachute&) = delete;
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/// enabled - enable or disable parachute release
void enabled(bool on_off);
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/// enabled - returns true if parachute release is enabled
bool enabled() const { return _enabled; }
/// release - release parachute
void release();
/// released - true if the parachute has been released (or release is in progress)
bool released() const { return _released; }
/// release_initiated - true if the parachute release sequence has been initiated (may wait before actual release)
bool release_initiated() const { return _release_initiated; }
/// release_in_progress - true if the parachute release sequence is in progress
bool release_in_progress() const { return _release_in_progress; }
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/// update - shuts off the trigger should be called at about 10hz
void update();
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/// alt_min - returns the min altitude above home the vehicle should have before parachute is released
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/// 0 = altitude check disabled
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int16_t alt_min() const { return _alt_min; }
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static const struct AP_Param::GroupInfo var_info[];
// get singleton instance
static AP_Parachute *get_singleton() { return _singleton; }
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private:
static AP_Parachute *_singleton;
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// Parameters
AP_Int8 _enabled; // 1 if parachute release is enabled
AP_Int8 _release_type; // 0:Servo,1:Relay
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
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AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released
AP_Int16 _delay_ms; // delay before chute release for motors to stop
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// internal variables
AP_Relay &_relay; // pointer to relay object from the base class Relay.
uint32_t _release_time; // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later)
bool _release_initiated:1; // true if the parachute release initiated (may still be waiting for engine to be suppressed etc.)
bool _release_in_progress:1; // true if the parachute release is in progress
bool _released:1; // true if the parachute has been released
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};
namespace AP {
AP_Parachute *parachute();
};