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AP_Mission: move responsibility for parachute deployment up

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This commit is contained in:
Peter Barker 2019-02-01 11:16:42 +11:00 committed by Randy Mackay
parent 005ec5cd4d
commit 9cd881b56c
3 changed files with 29 additions and 0 deletions
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3
libraries/AP_Mission/AP_Mission.cpp
View File

@ -269,6 +269,7 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONFIGURE: case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_PARACHUTE:
return true; return true;
default: default:
return _cmd_verify_fn(cmd); return _cmd_verify_fn(cmd);
@ -290,6 +291,8 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
return start_command_camera(cmd); return start_command_camera(cmd);
case MAV_CMD_DO_PARACHUTE:
return start_command_parachute(cmd);
default: default:
return _cmd_start_fn(cmd); return _cmd_start_fn(cmd);
} }

1
libraries/AP_Mission/AP_Mission.h
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@ -583,6 +583,7 @@ private:
bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd); bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd);
bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd); bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd);
bool start_command_camera(const AP_Mission::Mission_Command& cmd); bool start_command_camera(const AP_Mission::Mission_Command& cmd);
bool start_command_parachute(const AP_Mission::Mission_Command& cmd);
}; };
namespace AP { namespace AP {

25
libraries/AP_Mission/AP_Mission_Commands.cpp
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@ -2,6 +2,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Gripper/AP_Gripper.h> #include <AP_Gripper/AP_Gripper.h>
#include <AP_Parachute/AP_Parachute.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h> #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd) bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
@ -110,3 +111,27 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
} }
} }
bool AP_Mission::start_command_parachute(const AP_Mission::Mission_Command& cmd)
{
AP_Parachute *parachute = AP::parachute();
if (parachute == nullptr) {
return false;
}
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
return false;
}
return true;
}