ardupilot/ArduPlane/parachute.cpp

59 lines
1.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
/*
call parachute library update
*/
void Plane::parachute_check()
{
parachute.update();
}
/*
parachute_release - trigger the release of the parachute
*/
void Plane::parachute_release()
{
if (parachute.released()) {
return;
}
// send message to gcs and dataflash
gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
// release parachute
parachute.release();
}
/*
parachute_manual_release - trigger the release of the parachute,
after performing some checks for pilot error checks if the vehicle
is landed
*/
bool Plane::parachute_manual_release()
{
// exit immediately if parachute is not enabled
if (!parachute.enabled() || parachute.released()) {
return false;
}
// do not release if vehicle is not flying
if (!is_flying()) {
// warn user of reason for failure
gcs_send_text(MAV_SEVERITY_WARNING,"Parachute: Not flying");
return false;
}
if (relative_altitude() < parachute.alt_min()) {
gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Parachute: Too low");
return false;
}
// if we get this far release parachute
parachute_release();
return true;
}