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AP_Parachute: use relay singleton in Parachute

This commit is contained in:
Peter Barker 2022-12-23 10:55:03 +11:00 committed by Peter Barker
parent 7b171867af
commit 4776ae653c
3 changed files with 16 additions and 10 deletions
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19
libraries/AP_Parachute/AP_Parachute.cpp
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@ -139,7 +139,10 @@ void AP_Parachute::update()
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_on_pwm); 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 // set relay
_relay.on(_release_type); AP_Relay*_relay = AP::relay();
if (_relay != nullptr) {
_relay->on(_release_type);
}
} }
_release_in_progress = true; _release_in_progress = true;
_released = true; _released = true;
@ -151,7 +154,10 @@ void AP_Parachute::update()
SRV_Channels::set_output_pwm(SRV_Channel::k_parachute_release, _servo_off_pwm); 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 // set relay back to zero volts
_relay.off(_release_type); AP_Relay*_relay = AP::relay();
if (_relay != nullptr) {
_relay->off(_release_type);
}
} }
// reset released flag and release_time // reset released flag and release_time
_release_in_progress = false; _release_in_progress = false;
@ -205,9 +211,12 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
hal.util->snprintf(buffer, buflen, "Chute has no channel"); hal.util->snprintf(buffer, buflen, "Chute has no channel");
return false; return false;
} }
} else if (!_relay.enabled(_release_type)) { } else {
hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type)); AP_Relay*_relay = AP::relay();
return false; if (_relay == nullptr || !_relay->enabled(_release_type)) {
hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
return false;
}
} }
if (_release_initiated) { if (_release_initiated) {
hal.util->snprintf(buffer, buflen, "Chute is released"); hal.util->snprintf(buffer, buflen, "Chute is released");

5
libraries/AP_Parachute/AP_Parachute.h
View File

@ -4,7 +4,6 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Relay/AP_Relay.h>
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0 #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1 #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1
@ -35,8 +34,7 @@ class AP_Parachute {
public: public:
/// Constructor /// Constructor
AP_Parachute(AP_Relay &relay) AP_Parachute()
: _relay(relay)
{ {
// setup parameter defaults // setup parameter defaults
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -105,7 +103,6 @@ private:
AP_Float _critical_sink; // critical sink rate to trigger emergency parachute AP_Float _critical_sink; // critical sink rate to trigger emergency parachute
// internal variables // 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) 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_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 _release_in_progress:1; // true if the parachute release is in progress

2
libraries/AP_Parachute/examples/AP_Parachute_test/AP_Parachute_test.cpp
View File

@ -23,7 +23,7 @@ static AP_Relay relay;
#if HAL_PARACHUTE_ENABLED #if HAL_PARACHUTE_ENABLED
// Parachute // Parachute
static AP_Parachute parachute{relay}; static AP_Parachute parachute;
#endif #endif
void setup() void setup()