mirror of https://github.com/ArduPilot/ardupilot
133 lines
4.4 KiB
C++
133 lines
4.4 KiB
C++
#include "AP_Parachute.h"
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#include <AP_Relay/AP_Relay.h>
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#include <AP_Math/AP_Math.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_Parachute::var_info[] = {
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// @Param: ENABLED
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// @DisplayName: Parachute release enabled or disabled
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// @Description: Parachute release enabled or disabled
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO_FLAGS("ENABLED", 0, AP_Parachute, _enabled, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: TYPE
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// @DisplayName: Parachute release mechanism type (relay or servo)
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// @Description: Parachute release mechanism type (relay or servo)
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// @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
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// @User: Standard
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AP_GROUPINFO("TYPE", 1, AP_Parachute, _release_type, AP_PARACHUTE_TRIGGER_TYPE_RELAY_0),
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// @Param: SERVO_ON
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// @DisplayName: Parachute Servo ON PWM value
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// @Description: Parachute Servo PWM value when parachute is released
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// @Range: 1000 2000
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// @Units: pwm
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("SERVO_ON", 2, AP_Parachute, _servo_on_pwm, AP_PARACHUTE_SERVO_ON_PWM_DEFAULT),
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// @Param: SERVO_OFF
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// @DisplayName: Servo OFF PWM value
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// @Description: Parachute Servo PWM value when parachute is not released
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// @Range: 1000 2000
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// @Units: pwm
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("SERVO_OFF", 3, AP_Parachute, _servo_off_pwm, AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT),
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// @Param: ALT_MIN
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// @DisplayName: Parachute min altitude in meters above home
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// @Description: Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
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// @Range: 0 32000
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// @Units: Meters
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT),
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// @Param: DELAY_MS
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// @DisplayName: Parachute release delay
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// @Description: Delay in millseconds between motor stop and chute release
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// @Range: 0 5000
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// @Units: Milliseconds
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),
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AP_GROUPEND
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};
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/// enabled - enable or disable parachute release
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void AP_Parachute::enabled(bool on_off)
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{
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_enabled = on_off;
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// clear release_time
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_release_time = 0;
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}
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/// release - release parachute
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void AP_Parachute::release()
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{
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// exit immediately if not enabled
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if (_enabled <= 0) {
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return;
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}
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// set release time to current system time
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if (_release_time == 0) {
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_release_time = AP_HAL::millis();
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}
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_release_initiated = true;
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// update AP_Notify
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AP_Notify::flags.parachute_release = 1;
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}
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/// update - shuts off the trigger should be called at about 10hz
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void AP_Parachute::update()
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{
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// exit immediately if not enabled or parachute not to be released
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if (_enabled <= 0) {
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return;
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}
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// calc time since release
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uint32_t time_diff = AP_HAL::millis() - _release_time;
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uint32_t delay_ms = _delay_ms<=0 ? 0: (uint32_t)_delay_ms;
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// check if we should release parachute
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if ((_release_time != 0) && !_release_in_progress) {
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if (time_diff >= delay_ms) {
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if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
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// move servo
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RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_on_pwm);
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}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
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// set relay
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_relay.on(_release_type);
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}
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_release_in_progress = true;
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_released = true;
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}
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}else if ((_release_time == 0) || time_diff >= delay_ms + AP_PARACHUTE_RELEASE_DURATION_MS) {
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if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
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// move servo back to off position
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RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);
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}else if (_release_type <= AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
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// set relay back to zero volts
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_relay.off(_release_type);
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}
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// reset released flag and release_time
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_release_in_progress = false;
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_release_time = 0;
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// update AP_Notify
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AP_Notify::flags.parachute_release = 0;
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}
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}
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