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Parachute: set AP_Notify parachute_release flag

This commit is contained in:
Randy Mackay 2014-04-03 22:04:51 +09:00
parent e3e7fc284d
commit a639df0256
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_Parachute/AP_Parachute.cpp
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@ -4,6 +4,7 @@
#include <AP_Relay.h> #include <AP_Relay.h>
#include <AP_Math.h> #include <AP_Math.h>
#include <RC_Channel.h> #include <RC_Channel.h>
#include <AP_Notify.h>
#include <AP_HAL.h> #include <AP_HAL.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -72,6 +73,9 @@ void AP_Parachute::release()
// leave a message that it should be active for this many loops (assumes 50hz loops) // leave a message that it should be active for this many loops (assumes 50hz loops)
_release_time = hal.scheduler->millis(); _release_time = hal.scheduler->millis();
// update AP_Notify
AP_Notify::flags.parachute_release = 1;
} }
/// update - shuts off the trigger should be called at about 10hz /// update - shuts off the trigger should be called at about 10hz
@ -90,10 +94,13 @@ void AP_Parachute::update()
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);
}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) { }else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
// set relay back to zero volts // set relay back to zero volts
_relay.on(_release_type); _relay.off(_release_type);
} }
// reset release_time // reset release_time
_release_time = 0; _release_time = 0;
// update AP_Notify
AP_Notify::flags.parachute_release = 0;
} }
} }