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Parachute: alt_min units to meters

This commit is contained in:
Randy Mackay 2014-04-07 11:17:07 +09:00
parent 50df95316a
commit 879d447404
2 changed files with 8 additions and 8 deletions
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8
libraries/AP_Parachute/AP_Parachute.cpp
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@ -46,11 +46,11 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] PROGMEM = {
// @Param: ALT_MIN // @Param: ALT_MIN
// @DisplayName: Parachute min altitude in cm above home // @DisplayName: Parachute min altitude in cm above home
// @Description: Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check. // @Description: Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
// @Range: 0 10000 // @Range: 0 32000
// @Units: Centimeters // @Units: Meters
// @Increment: 100 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min_cm, AP_PARACHUTE_ALT_MIN_DEFAULT), AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };

8
libraries/AP_Parachute/AP_Parachute.h
View File

@ -22,7 +22,7 @@
#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated #define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated
#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated #define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated
#define AP_PARACHUTE_ALT_MIN_DEFAULT 1000 // default min altitude the vehicle should have before parachute is released #define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released
/// @class AP_Parachute /// @class AP_Parachute
/// @brief Class managing the release of a parachute /// @brief Class managing the release of a parachute
@ -52,9 +52,9 @@ public:
/// update - shuts off the trigger should be called at about 10hz /// update - shuts off the trigger should be called at about 10hz
void update(); void update();
/// alt_min_cm - returns the min altitude above home the vehicle should have before parachute is released /// alt_min - returns the min altitude above home the vehicle should have before parachute is released
/// 0 = altitude check disabled /// 0 = altitude check disabled
int16_t alt_min_cm() const { return _alt_min_cm; } int16_t alt_min() const { return _alt_min; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -64,7 +64,7 @@ private:
AP_Int8 _release_type; // 0:Servo,1:Relay AP_Int8 _release_type; // 0:Servo,1:Relay
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
AP_Int16 _alt_min_cm; // min altitude the vehicle should have before parachute is released AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released
// internal variables // internal variables
AP_Relay& _relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2 AP_Relay& _relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2