mirror of https://github.com/ArduPilot/ardupilot
128 lines
5.0 KiB
C++
128 lines
5.0 KiB
C++
/// @file AP_Parachute.h
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/// @brief Parachute release library
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Common/AP_Common.h>
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2 2
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3 3
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#define AP_PARACHUTE_TRIGGER_TYPE_SERVO 10
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#define AP_PARACHUTE_RELEASE_DELAY_MS 500 // delay in milliseconds between call to release() and when servo or relay actually moves. Allows for warning to user
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#define AP_PARACHUTE_RELEASE_DURATION_MS 2000 // when parachute is released, servo or relay stay at their released position/value for 2000ms (2seconds)
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#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated
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#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated
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#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released
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#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT 0 // default critical sink speed in m/s to trigger emergency parachute
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#ifndef HAL_PARACHUTE_ENABLED
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// default to parachute enabled to match previous configs
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#define HAL_PARACHUTE_ENABLED 1
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#endif
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#if HAL_PARACHUTE_ENABLED
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/// @class AP_Parachute
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/// @brief Class managing the release of a parachute
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class AP_Parachute {
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public:
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/// Constructor
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AP_Parachute()
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{
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// setup parameter defaults
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (_singleton != nullptr) {
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AP_HAL::panic("Parachute must be singleton");
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}
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#endif
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_singleton = this;
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AP_Param::setup_object_defaults(this, var_info);
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}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Parachute);
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/// enabled - enable or disable parachute release
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void enabled(bool on_off);
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/// enabled - returns true if parachute release is enabled
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bool enabled() const { return _enabled; }
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/// release - release parachute
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void release();
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/// released - true if the parachute has been released (or release is in progress)
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bool released() const { return _released; }
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/// release_initiated - true if the parachute release sequence has been initiated (may wait before actual release)
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bool release_initiated() const { return _release_initiated; }
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/// release_in_progress - true if the parachute release sequence is in progress
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bool release_in_progress() const { return _release_in_progress; }
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/// update - shuts off the trigger should be called at about 10hz
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void update();
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/// alt_min - returns the min altitude above home the vehicle should have before parachute is released
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/// 0 = altitude check disabled
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int16_t alt_min() const { return _alt_min; }
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/// set_is_flying - accessor to the is_flying flag
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void set_is_flying(const bool is_flying) { _is_flying = is_flying; }
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// set_sink_rate - set vehicle sink rate
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void set_sink_rate(float sink_rate);
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// trigger parachute release if sink_rate is below critical_sink_rate for 1sec
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void check_sink_rate();
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// check settings are valid
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bool arming_checks(size_t buflen, char *buffer) const;
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// Return the relay index that would be used for param conversion to relay functions
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bool get_legacy_relay_index(int8_t &index) const;
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static const struct AP_Param::GroupInfo var_info[];
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// get singleton instance
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static AP_Parachute *get_singleton() { return _singleton; }
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private:
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static AP_Parachute *_singleton;
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// Parameters
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AP_Int8 _enabled; // 1 if parachute release is enabled
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AP_Int8 _release_type; // 0:Servo,1:Relay
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AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
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AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
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AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released
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AP_Int16 _delay_ms; // delay before chute release for motors to stop
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AP_Float _critical_sink; // critical sink rate to trigger emergency parachute
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// internal variables
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uint32_t _release_time; // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later)
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bool _release_initiated:1; // true if the parachute release initiated (may still be waiting for engine to be suppressed etc.)
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bool _release_in_progress:1; // true if the parachute release is in progress
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bool _released:1; // true if the parachute has been released
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bool _is_flying:1; // true if the vehicle is flying
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uint32_t _sink_time_ms; // system time that the vehicle exceeded critical sink rate
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enum class Options : uint8_t {
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HoldOpen = (1U<<0),
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};
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AP_Int32 _options;
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};
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namespace AP {
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AP_Parachute *parachute();
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};
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#endif // HAL_PARACHUTE_ENABLED
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