mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#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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parachute.update();
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}
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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.released()) {
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return;
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}
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// send message to gcs and dataflash
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gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
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// release parachute
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parachute.release();
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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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// do not release if vehicle is not flying
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if (!is_flying()) {
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// warn user of reason for failure
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gcs_send_text(MAV_SEVERITY_WARNING,"Parachute: Not flying");
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return false;
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}
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if (relative_ground_altitude() < parachute.alt_min()) {
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gcs_send_text_fmt(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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return true;
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}
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