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AP_Parachute: optional (CHUTE_OPTIONS:1) disarm defore parachute release

This commit is contained in:
Andrii Fil 2024-04-09 09:17:13 +10:00 committed by Peter Barker
parent 0a1d9b06b5
commit ed6ddf725d
2 changed files with 13 additions and 4 deletions
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13
libraries/AP_Parachute/AP_Parachute.cpp
View File

@ -10,6 +10,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Arming/AP_Arming.h>
extern const AP_HAL::HAL& hal;
@ -65,7 +66,7 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),
// @Param: CRT_SINK
// @DisplayName: Critical sink speed rate in m/s to trigger emergency parachute
// @Description: Release parachute when critical sink rate is reached
@ -78,9 +79,9 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Parachute options
// @Description: Optional behaviour for parachute
// @Bitmask: 0:hold open forever after release
// @Bitmask: 0:hold open forever after release,1:skip disarm before parachute release
// @User: Standard
AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, 0),
AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, AP_PARACHUTE_OPTIONS_DEFAULT),
AP_GROUPEND
};
@ -107,6 +108,12 @@ void AP_Parachute::release()
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Parachute: Released");
LOGGER_WRITE_EVENT(LogEvent::PARACHUTE_RELEASED);
bool need_disarm = (_options.get() & uint32_t(Options::SkipDisarmBeforeParachuteRelease)) == 0;
if (need_disarm) {
// stop motors to avoid parachute tangling
AP::arming().disarm(AP_Arming::Method::PARACHUTE_RELEASE);
}
// set release time to current system time
if (_release_time == 0) {
_release_time = AP_HAL::millis();

4
libraries/AP_Parachute/AP_Parachute.h
View File

@ -19,7 +19,8 @@
#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released
#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT 0 // default critical sink speed in m/s to trigger emergency parachute
#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT 0 // default critical sink speed in m/s to trigger emergency parachute
#define AP_PARACHUTE_OPTIONS_DEFAULT 0 // default parachute options: enabled disarm after parachute release
#ifndef HAL_PARACHUTE_ENABLED
// default to parachute enabled to match previous configs
@ -115,6 +116,7 @@ private:
enum class Options : uint8_t {
HoldOpen = (1U<<0),
SkipDisarmBeforeParachuteRelease = (1U<<1),
};
AP_Int32 _options;