Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Parachute: formatting fixes

This commit is contained in:
Randy Mackay 2020-09-16 14:40:26 +09:00 committed by Andrew Tridgell
parent dbf6f6f4b1
commit 17d4e797fb
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -134,25 +134,25 @@ void AP_Parachute::update()
// calc time since release
uint32_t time_diff = AP_HAL::millis() - _release_time;
uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms;
// check if we should release parachute
if ((_release_time != 0) && !_release_in_progress) {
if (time_diff >= delay_ms) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_on_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
} else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay
_relay.on(_release_type);
}
_release_in_progress = true;
_released = true;
}
}else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
} else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_off_pwm);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
} else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay back to zero volts
_relay.off(_release_type);
}

4
libraries/AP_Parachute/AP_Parachute.h
View File

@ -63,13 +63,13 @@ public:
/// 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; }
/// update - shuts off the trigger should be called at about 10hz
void update();