mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
#include "Plane.h"
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/*
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call parachute library update
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*/
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void Plane::parachute_check()
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{
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#if PARACHUTE == ENABLED
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parachute.update();
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#endif
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}
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#if PARACHUTE == ENABLED
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/*
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parachute_release - trigger the release of the parachute
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*/
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void Plane::parachute_release()
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{
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if (parachute.release_in_progress()) {
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return;
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}
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// send message to gcs and dataflash
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if (parachute.released()) {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released again");
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} else {
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gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
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}
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// release parachute
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parachute.release();
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#if LANDING_GEAR_ENABLED == ENABLED
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// deploy landing gear
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g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
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#endif
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}
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/*
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parachute_manual_release - trigger the release of the parachute,
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after performing some checks for pilot error checks if the vehicle
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is landed
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*/
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bool Plane::parachute_manual_release()
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{
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// exit immediately if parachute is not enabled
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if (!parachute.enabled() || parachute.released()) {
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return false;
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}
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if (parachute.alt_min() > 0 && relative_ground_altitude(false) < parachute.alt_min() &&
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auto_state.last_flying_ms > 0) {
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// Allow manual ground tests by only checking if flying too low if we've taken off
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gcs().send_text(MAV_SEVERITY_WARNING, "Parachute: Too low");
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return false;
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}
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// if we get this far release parachute
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parachute_release();
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#if LANDING_GEAR_ENABLED == ENABLED
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// deploy landing gear
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g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
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#endif
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return true;
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}
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#endif
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