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AP_Parachute: added arming_checks()

This commit is contained in:
Andrew Tridgell 2021-07-20 14:36:10 +10:00
parent 09ad43dea3
commit 8660e98b57
2 changed files with 20 additions and 0 deletions
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17
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -187,6 +187,23 @@ void AP_Parachute::check_sink_rate()
}
}
// check settings are valid
bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
{
if (_enabled > 0) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
if (!SRV_Channels::function_assigned(SRV_Channel::k_parachute_release)) {
hal.util->snprintf(buffer, buflen, "Chute has no channel");
return false;
}
} else if (!_relay.enabled(_release_type)) {
hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", _release_type);
return false;
}
}
return true;
}
// singleton instance
AP_Parachute *AP_Parachute::_singleton;

3
libraries/AP_Parachute/AP_Parachute.h
View File

@ -86,6 +86,9 @@ public:
// trigger parachute release if sink_rate is below critical_sink_rate for 1sec
void check_sink_rate();
// check settings are valid
bool arming_checks(size_t buflen, char *buffer) const;
static const struct AP_Param::GroupInfo var_info[];
// get singleton instance