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AP_Parachute: added CHUTE_DELAY_MS parameter

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on fixed wing it may take quite some time for the propeller to stop
This commit is contained in:
Andrew Tridgell 2016-03-29 05:48:40 +11:00
parent 2806171839
commit 894e07a0bd
2 changed files with 14 additions and 3 deletions
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14
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -52,6 +52,15 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT), AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT),
// @Param: DELAY_MS
// @DisplayName: Parachute release delay
// @Description: Delay in millseconds between motor stop and chute release
// @Range: 0 5000
// @Units: Milliseconds
// @Increment: 1
// @User: Standard
AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),
AP_GROUPEND AP_GROUPEND
}; };
@ -91,10 +100,11 @@ void AP_Parachute::update()
// calc time since release // calc time since release
uint32_t time_diff = AP_HAL::millis() - _release_time; uint32_t time_diff = AP_HAL::millis() - _release_time;
uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms;
// check if we should release parachute // check if we should release parachute
if ((_release_time != 0) && !_release_in_progress) { if ((_release_time != 0) && !_release_in_progress) {
if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) { if (time_diff >= delay_ms) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) { if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo // move servo
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm); RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
@ -105,7 +115,7 @@ void AP_Parachute::update()
_release_in_progress = true; _release_in_progress = true;
_released = true; _released = true;
} }
}else if ((_release_time == 0) || time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS + AP_PARACHUTE_RELEASE_DURATION_MS) { }else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) { if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position // move servo back to off position
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm); RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);

1
libraries/AP_Parachute/AP_Parachute.h
View File

@ -66,6 +66,7 @@ private:
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; // min altitude the vehicle should have before parachute is released AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released
AP_Int16 _delay_ms; // delay before chute release for motors to stop
// internal variables // internal variables
AP_Relay &_relay; // pointer to relay object from the base class Relay. AP_Relay &_relay; // pointer to relay object from the base class Relay.