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AP_Parachute: Added time check for sink rate to avoid glitches

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Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>
This commit is contained in:
Vinicius Knabben 2019-02-22 11:03:39 -03:00 committed by Andrew Tridgell
parent 55dca5cda9
commit 040fa3e10a
2 changed files with 12 additions and 2 deletions
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11
libraries/AP_Parachute/AP_Parachute.cpp
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@ -115,10 +115,19 @@ void AP_Parachute::update()
if (_enabled <= 0) { if (_enabled <= 0) {
return; return;
} }
// check if the plane is sinking too fast and release parachute // check if the plane is sinking too fast for more than a second and release parachute
uint32_t time = AP_HAL::millis();
if((_critical_sink > 0) && (_sink_rate > _critical_sink) && !_release_initiated && _is_flying) { if((_critical_sink > 0) && (_sink_rate > _critical_sink) && !_release_initiated && _is_flying) {
if(_sink_time == 0) {
_sink_time = AP_HAL::millis();
}
if((time - _sink_time) >= 1000) {
release(); release();
} }
} else {
_sink_time = 0;
}
// calc time since release // calc time since release
uint32_t time_diff = AP_HAL::millis() - _release_time; uint32_t time_diff = AP_HAL::millis() - _release_time;
uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms; uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms;

1
libraries/AP_Parachute/AP_Parachute.h
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@ -103,6 +103,7 @@ private:
bool _released:1; // true if the parachute has been released bool _released:1; // true if the parachute has been released
bool _is_flying:1; // true if the vehicle is flying bool _is_flying:1; // true if the vehicle is flying
float _sink_rate; // vehicle sink rate in m/s float _sink_rate; // vehicle sink rate in m/s
uint32_t _sink_time; // time that the vehicle exceeded critical sink rate
}; };
namespace AP { namespace AP {