Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: initial support for AP_Parachute library

This commit is contained in:
Andrew Tridgell 2015-06-18 20:45:33 +10:00
parent aee2543b75
commit 9affddcaa3
9 changed files with 136 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduPlane/ArduPlane.cpp
View File

@ -77,6 +77,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
SCHED_TASK(compass_save, 3000, 2500),
SCHED_TASK(update_logging1, 5, 1700),
SCHED_TASK(update_logging2, 5, 1700),
SCHED_TASK(parachute_check, 5, 500),
#if FRSKY_TELEM_ENABLED == ENABLED
SCHED_TASK(frsky_telemetry_send, 10, 100),
#endif

22
ArduPlane/GCS_Mavlink.cpp
View File

@ -1473,6 +1473,28 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = plane.compass.handle_mag_cal_command(packet);
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:
plane.parachute.enabled(false);
break;
case PARACHUTE_ENABLE:
plane.parachute.enabled(true);
break;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
plane.parachute_manual_release();
break;
default:
result = MAV_RESULT_FAILED;
break;
}
break;
#endif
default:
break;
}

6
ArduPlane/Parameters.cpp
View File

@ -991,6 +991,12 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
// @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
#if RANGEFINDER_ENABLED == ENABLED
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp

1
ArduPlane/Parameters.h
View File

@ -143,6 +143,7 @@ public:
k_param_land_abort_throttle_enable,
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
// 100: Arming parameters
k_param_arming = 100,

10
ArduPlane/Plane.h
View File

@ -94,6 +94,7 @@
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <AP_Parachute/AP_Parachute.h>
// Configuration
#include "config.h"
@ -550,6 +551,10 @@ private:
FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)};
#if PARACHUTE == ENABLED
AP_Parachute parachute {relay};
#endif
// terrain handling
#if AP_TERRAIN_AVAILABLE
AP_Terrain terrain {ahrs, mission, rally};
@ -971,6 +976,11 @@ private:
void dataflash_periodic(void);
uint16_t throttle_min(void) const;
void do_parachute(const AP_Mission::Mission_Command& cmd);
void parachute_check();
void parachute_release();
void parachute_manual_release();
public:
void mavlink_delay_cb();
void failsafe_check(void);

34
ArduPlane/commands_logic.cpp
View File

@ -173,6 +173,12 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
break;
#endif
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
do_parachute(cmd);
break;
#endif
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control
@ -256,6 +262,13 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_CONDITION_CHANGE_ALT:
return verify_change_alt();
#if PARACHUTE == ENABLED
case MAV_CMD_DO_PARACHUTE:
// assume parachute was released successfully
return true;
break;
#endif
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
@ -903,6 +916,27 @@ void Plane::do_take_picture()
#endif
}
#if PARACHUTE == ENABLED
// do_parachute - configure or release parachute
void Plane::do_parachute(const AP_Mission::Mission_Command& cmd)
{
switch (cmd.p1) {
case PARACHUTE_DISABLE:
parachute.enabled(false);
break;
case PARACHUTE_ENABLE:
parachute.enabled(true);
break;
case PARACHUTE_RELEASE:
parachute_release();
break;
default:
// do nothing
break;
}
}
#endif
// log_picture - log picture taken and send feedback to GCS
void Plane::log_picture()
{

10
ArduPlane/config.h
View File

@ -461,6 +461,16 @@
#define HIL_SUPPORT ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Parachute release
#ifndef PARACHUTE
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define PARACHUTE ENABLED
#else
# define PARACHUTE DISABLED
#endif
#endif
/*
build a firmware version string.
GIT_VERSION comes from Makefile builds

1
ArduPlane/make.inc
View File

@ -48,3 +48,4 @@ LIBRARIES += AP_Rally
LIBRARIES += AP_OpticalFlow
LIBRARIES += AP_RSSI
LIBRARIES += AP_RPM
LIBRARIES += AP_Parachute

51
ArduPlane/parachute.cpp Normal file
View File

@ -0,0 +1,51 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
/*
call parachute library update
*/
void Plane::parachute_check()
{
parachute.update();
}
/*
parachute_release - trigger the release of the parachute
*/
void Plane::parachute_release()
{
if (parachute.released()) {
return;
}
// send message to gcs and dataflash
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Parachute: Released"));
// release parachute
parachute.release();
}
/*
parachute_manual_release - trigger the release of the parachute,
after performing some checks for pilot error checks if the vehicle
is landed
*/
void Plane::parachute_manual_release()
{
// exit immediately if parachute is not enabled
if (!parachute.enabled() || parachute.released()) {
return;
}
// do not release if vehicle is not flying
if (!is_flying()) {
// warn user of reason for failure
gcs_send_text_P(MAV_SEVERITY_WARNING,PSTR("Parachute: not flying"));
return;
}
// if we get this far release parachute
parachute_release();
}