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Copter: move responsibility for parachute deployment up

This commit is contained in:
Peter Barker 2019-02-01 11:16:58 +11:00 committed by Randy Mackay
parent 9cd881b56c
commit 228d7b676d
3 changed files with 0 additions and 35 deletions
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4
ArduCopter/crash_check.cpp
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@ -209,10 +209,6 @@ void Copter::parachute_check()
// parachute_release - trigger the release of the parachute, disarm the motors and notify the user // parachute_release - trigger the release of the parachute, disarm the motors and notify the user
void Copter::parachute_release() void Copter::parachute_release()
{ {
// send message to gcs and dataflash
gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Released");
Log_Write_Event(DATA_PARACHUTE_RELEASED);
// disarm motors // disarm motors
init_disarm_motors(); init_disarm_motors();

30
ArduCopter/mode_auto.cpp
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@ -485,12 +485,6 @@ bool Copter::ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
#endif //AC_FENCE == ENABLED #endif //AC_FENCE == ENABLED
break; break;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE: // Mission command to configure or release parachute
do_parachute(cmd);
break;
#endif
#if NAV_GUIDED == ENABLED #if NAV_GUIDED == ENABLED
case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits case MAV_CMD_DO_GUIDED_LIMITS: // 220 accept guided mode limits
do_guided_limits(cmd); do_guided_limits(cmd);
@ -679,7 +673,6 @@ bool Copter::ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_SET_HOME: case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GUIDED_LIMITS: case MAV_CMD_DO_GUIDED_LIMITS:
case MAV_CMD_DO_FENCE_ENABLE: case MAV_CMD_DO_FENCE_ENABLE:
case MAV_CMD_DO_WINCH: case MAV_CMD_DO_WINCH:
@ -1393,29 +1386,6 @@ void Copter::ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
#endif #endif
} }
#if PARACHUTE == ENABLED
// do_parachute - configure or release parachute
void Copter::ModeAuto::do_parachute(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.p1) {
case PARACHUTE_DISABLE:
copter.parachute.enabled(false);
Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case PARACHUTE_ENABLE:
copter.parachute.enabled(true);
Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case PARACHUTE_RELEASE:
copter.parachute_release();
break;
default:
// do nothing
break;
}
}
#endif
#if WINCH_ENABLED == ENABLED #if WINCH_ENABLED == ENABLED
// control winch based on mission command // control winch based on mission command
void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd) void Copter::ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)

1
ArduCopter/wscript
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@ -19,7 +19,6 @@ def build(bld):
'AP_IRLock', 'AP_IRLock',
'AP_InertialNav', 'AP_InertialNav',
'AP_Motors', 'AP_Motors',
'AP_Parachute',
'AP_RCMapper', 'AP_RCMapper',
'AP_Avoidance', 'AP_Avoidance',
'AP_AdvancedFailsafe', 'AP_AdvancedFailsafe',