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Plane: Added parachute release on critcal sink rate and battery failsafe actions

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Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>
This commit is contained in:
Vinicius Knabben 2019-02-11 12:20:38 -02:00 committed by Andrew Tridgell
parent 37c07e1d89
commit 99ad94ec49
5 changed files with 14 additions and 4 deletions
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6
ArduPlane/ArduPlane.cpp
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@ -108,7 +108,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
#endif #endif
}; };
constexpr int8_t Plane::_failsafe_priorities[6]; constexpr int8_t Plane::_failsafe_priorities[7];
void Plane::setup() void Plane::setup()
{ {
@ -577,7 +577,9 @@ void Plane::update_alt()
// low pass the sink rate to take some of the noise out // low pass the sink rate to take some of the noise out
auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate; auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
#if PARACHUTE == ENABLED
parachute.set_sink_rate(auto_state.sink_rate);
#endif
geofence_check(true); geofence_check(true);
update_flight_stage(); update_flight_stage();

2
ArduPlane/Plane.h
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@ -1074,11 +1074,13 @@ private:
Failsafe_Action_Land = 2, Failsafe_Action_Land = 2,
Failsafe_Action_Terminate = 3, Failsafe_Action_Terminate = 3,
Failsafe_Action_QLand = 4, Failsafe_Action_QLand = 4,
Failsafe_Action_Parachute = 5
}; };
// list of priorities, highest priority first // list of priorities, highest priority first
static constexpr int8_t _failsafe_priorities[] = { static constexpr int8_t _failsafe_priorities[] = {
Failsafe_Action_Terminate, Failsafe_Action_Terminate,
Failsafe_Action_Parachute,
Failsafe_Action_QLand, Failsafe_Action_QLand,
Failsafe_Action_Land, Failsafe_Action_Land,
Failsafe_Action_RTL, Failsafe_Action_RTL,

4
ArduPlane/events.cpp
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@ -178,6 +178,10 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
#endif #endif
break; break;
case Failsafe_Action_Parachute:
parachute_release();
break;
case Failsafe_Action_None: case Failsafe_Action_None:
// don't actually do anything, however we should still flag the system as having hit a failsafe // don't actually do anything, however we should still flag the system as having hit a failsafe
// and ensure all appropriate flags are going off to the user // and ensure all appropriate flags are going off to the user

3
ArduPlane/is_flying.cpp
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@ -155,6 +155,9 @@ void Plane::update_is_flying_5Hz(void)
} }
previous_is_flying = new_is_flying; previous_is_flying = new_is_flying;
adsb.set_is_flying(new_is_flying); adsb.set_is_flying(new_is_flying);
#if PARACHUTE == ENABLED
parachute.set_is_flying(new_is_flying);
#endif
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
g2.stats.set_flying(new_is_flying); g2.stats.set_flying(new_is_flying);
#endif #endif

1
ArduPlane/parachute.cpp
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@ -64,5 +64,4 @@ bool Plane::parachute_manual_release()
#endif #endif
return true; return true;
} }
#endif #endif