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Sub: Remove parachute

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This commit is contained in:
Jacob Walser 2016-11-25 14:30:30 -05:00 committed by Andrew Tridgell
parent d75919eadc
commit 7b5d209aba
11 changed files with 10 additions and 132 deletions
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1
ArduSub/APM_Config.h
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@ -25,7 +25,6 @@
//#define POSHOLD_ENABLED DISABLED // disable PosHold flight mode to save 4.5k of flash
//#define AC_RALLY DISABLED // disable rally points library (must also disable terrain which relies on rally)
#define AC_TERRAIN DISABLED // disable terrain library
#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
#define GRIPPER_ENABLED DISABLED // disable gripper to save 500bytes of flash
//#define CLI_ENABLED DISABLED // disable the CLI (command-line-interface) to save 21K of flash space
//#define NAV_GUIDED DISABLED // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands

24
ArduSub/GCS_Mavlink.cpp
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@ -1546,30 +1546,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
break;
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// configure or release parachute
result = MAV_RESULT_ACCEPTED;
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
sub.parachute.enabled(false);
sub.Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case PARACHUTE_ENABLE:
sub.parachute.enabled(true);
sub.Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
sub.parachute_manual_release();
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
#endif
case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)

6
ArduSub/Parameters.cpp
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@ -860,12 +860,6 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),
#if PARACHUTE == ENABLED
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
GOBJECT(parachute, "CHUTE_", AP_Parachute),
#endif
// @Group: LGR_
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
GOBJECT(landinggear, "LGR_", AP_LandingGear),

3
ArduSub/Parameters.h
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@ -73,9 +73,6 @@ public:
// GPS object
k_param_gps,
// Parachute object
k_param_parachute,
// Landing gear object
k_param_landinggear, // 18

3
ArduSub/Sub.cpp
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@ -91,9 +91,6 @@ Sub::Sub(void) :
#if SPRAYER == ENABLED
sprayer(&inertial_nav),
#endif
#if PARACHUTE == ENABLED
parachute(relay),
#endif
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain(ahrs, mission, rally),
#endif

14
ArduSub/Sub.h
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@ -105,9 +105,6 @@
#if GRIPPER_ENABLED == ENABLED
#include <AP_Gripper/AP_Gripper.h> // gripper stuff
#endif
#if PARACHUTE == ENABLED
#include <AP_Parachute/AP_Parachute.h> // Parachute release library
#endif
#if PRECISION_LANDING == ENABLED
#include <AC_PrecLand/AC_PrecLand.h>
#include <AP_IRLock/AP_IRLock.h>
@ -500,11 +497,6 @@ private:
AC_Sprayer sprayer;
#endif
// Parachute release
#if PARACHUTE == ENABLED
AP_Parachute parachute;
#endif
// Landing Gear Controller
AP_LandingGear landinggear;
@ -766,9 +758,6 @@ private:
bool manual_init(bool ignore_checks);
void manual_run();
void crash_check();
void parachute_check();
void parachute_release();
void parachute_manual_release();
void ekf_check();
bool ekf_over_threshold();
void failsafe_ekf_event();
@ -936,9 +925,6 @@ private:
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
#endif
#if PARACHUTE == ENABLED
void do_parachute(const AP_Mission::Mission_Command& cmd);
#endif
#if GRIPPER_ENABLED == ENABLED
void do_gripper(const AP_Mission::Mission_Command& cmd);
#endif

31
ArduSub/commands_logic.cpp
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@ -124,12 +124,6 @@ bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
break;
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE: // Mission command to configure or release parachute
do_parachute(cmd);
break;
#endif
#if GRIPPER_ENABLED == ENABLED
case MAV_CMD_DO_GRIPPER: // Mission command to control gripper
do_gripper(cmd);
@ -234,7 +228,6 @@ bool Sub::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE: // assume parachute was released successfully
case MAV_CMD_DO_GRIPPER:
case MAV_CMD_DO_GUIDED_LIMITS:
return true;
@ -529,30 +522,6 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Delaying %u sec",(unsigned int)(nav_delay_time_max/1000));
}
#if PARACHUTE == ENABLED
// do_parachute - configure or release parachute
void Sub::do_parachute(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.p1) {
case PARACHUTE_DISABLE:
parachute.enabled(false);
Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case PARACHUTE_ENABLE:
parachute.enabled(true);
Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case PARACHUTE_RELEASE:
parachute_release();
break;
default:
// do nothing
break;
}
}
#endif
#if GRIPPER_ENABLED == ENABLED
// do_gripper - control gripper
void Sub::do_gripper(const AP_Mission::Mission_Command& cmd)

6
ArduSub/config.h
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@ -255,12 +255,6 @@
# define EPM_ENABLED ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
#ifndef PARACHUTE
# define PARACHUTE ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Nav-Guided - allows external nav computer to control vehicle
#ifndef NAV_GUIDED

20
ArduSub/defines.h
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@ -56,9 +56,12 @@ enum aux_sw_func {
AUXSW_AUTOTUNE = 17, // auto tune
AUXSW_LAND = 18, // change to LAND flight mode
AUXSW_GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
// No parachute for Sub, remove
// AUXSW_PARACHUTE_ENABLE = 21, // Parachute enable/disable
// AUXSW_PARACHUTE_RELEASE = 22, // Parachute release
// AUXSW_PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
AUXSW_MISSION_RESET = 24, // Reset auto mission to start from first command
AUXSW_ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
AUXSW_ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
@ -340,9 +343,9 @@ enum ThrowModeState {
#define DATA_ACRO_TRAINER_LIMITED 45
#define DATA_GRIPPER_GRAB 46
#define DATA_GRIPPER_RELEASE 47
#define DATA_PARACHUTE_DISABLED 49
#define DATA_PARACHUTE_ENABLED 50
#define DATA_PARACHUTE_RELEASED 51
//#define DATA_PARACHUTE_DISABLED 49 // Remove
//#define DATA_PARACHUTE_ENABLED 50 // Remove
//#define DATA_PARACHUTE_RELEASED 51 // Remove
#define DATA_LANDING_GEAR_DEPLOYED 52
#define DATA_LANDING_GEAR_RETRACTED 53
#define DATA_MOTORS_EMERGENCY_STOPPED 54
@ -377,7 +380,7 @@ enum ThrowModeState {
#define ERROR_SUBSYSTEM_CRASH_CHECK 12
//#define ERROR_SUBSYSTEM_FLIP 13
#define ERROR_SUBSYSTEM_AUTOTUNE 14
#define ERROR_SUBSYSTEM_PARACHUTE 15
//#define ERROR_SUBSYSTEM_PARACHUTE 15 // Remove
#define ERROR_SUBSYSTEM_EKFCHECK 16
#define ERROR_SUBSYSTEM_FAILSAFE_EKFINAV 17
#define ERROR_SUBSYSTEM_BARO 18
@ -411,9 +414,6 @@ enum ThrowModeState {
#define ERROR_CODE_FAILED_CIRCLE_INIT 4
#define ERROR_CODE_DEST_OUTSIDE_FENCE 5
// parachute failed to deploy because of low altitude or landed
#define ERROR_CODE_PARACHUTE_TOO_LOW 2
#define ERROR_CODE_PARACHUTE_LANDED 3
// EKF check definitions
#define ERROR_CODE_EKFCHECK_BAD_VARIANCE 2
#define ERROR_CODE_EKFCHECK_VARIANCE_CLEARED 0

1
ArduSub/make.inc
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@ -52,7 +52,6 @@ LIBRARIES += AP_BattMonitor
LIBRARIES += AP_BoardConfig
LIBRARIES += AP_Frsky_Telem
LIBRARIES += AC_Sprayer
LIBRARIES += AP_Parachute
LIBRARIES += AP_LandingGear
LIBRARIES += AP_Terrain
LIBRARIES += AP_RPM

33
ArduSub/switches.cpp
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@ -235,8 +235,6 @@ void Sub::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_ACRO_TRAINER:
case AUXSW_GRIPPER:
case AUXSW_SPRAYER:
case AUXSW_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUXSW_RETRACT_MOUNT:
case AUXSW_MISSION_RESET:
case AUXSW_ATTCON_FEEDFWD:
@ -441,37 +439,6 @@ void Sub::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
// }
break;
#if PARACHUTE == ENABLED
case AUXSW_PARACHUTE_ENABLE:
// Parachute enable/disable
parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_PARACHUTE_RELEASE:
if (ch_flag == AUX_SWITCH_HIGH) {
parachute_manual_release();
}
break;
case AUXSW_PARACHUTE_3POS:
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AUX_SWITCH_LOW:
parachute.enabled(false);
Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
parachute.enabled(true);
Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case AUX_SWITCH_HIGH:
parachute.enabled(true);
parachute_manual_release();
break;
}
break;
#endif
case AUXSW_MISSION_RESET:
if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset();