ardupilot/libraries/AP_Parachute/AP_Parachute.h

76 lines
3.0 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_Parachute.h
/// @brief Parachute release library
#ifndef AP_PARACHUTE_H
#define AP_PARACHUTE_H
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include <AP_Relay/AP_Relay.h>
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2 2
#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3 3
#define AP_PARACHUTE_TRIGGER_TYPE_SERVO 10
#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
#define AP_PARACHUTE_RELEASE_DURATION_MS 2000 // when parachute is released, servo or relay stay at their released position/value for 2000ms (2seconds)
#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated
#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated
#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released
/// @class AP_Parachute
/// @brief Class managing the release of a parachute
class AP_Parachute {
public:
/// Constructor
AP_Parachute(AP_Relay& relay) :
_relay(relay),
_release_time(0),
_released(false)
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/// enabled - enable or disable parachute release
void enabled(bool on_off);
/// enabled - returns true if parachute release is enabled
bool enabled() const { return _enabled; }
/// release - release parachute
void release();
/// update - shuts off the trigger should be called at about 10hz
void update();
/// alt_min - returns the min altitude above home the vehicle should have before parachute is released
/// 0 = altitude check disabled
int16_t alt_min() const { return _alt_min; }
static const struct AP_Param::GroupInfo var_info[];
private:
// Parameters
AP_Int8 _enabled; // 1 if parachute release is enabled
AP_Int8 _release_type; // 0:Servo,1:Relay
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released
// internal variables
AP_Relay &_relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
uint32_t _release_time; // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later)
bool _released; // true if the parachute has been released
};
#endif /* AP_PARACHUTE_H */