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AP_Parachute: added a released() function

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used to help with throttle suppression in plane
This commit is contained in:
Andrew Tridgell 2015-10-27 10:36:04 +11:00
parent 76871ef0cd
commit 0d9715cfe8
2 changed files with 8 additions and 3 deletions
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5
libraries/AP_Parachute/AP_Parachute.cpp
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@ -91,7 +91,7 @@ void AP_Parachute::update()
uint32_t time_diff = hal.scheduler->millis() - _release_time; uint32_t time_diff = hal.scheduler->millis() - _release_time;
// check if we should release parachute // check if we should release parachute
if ((_release_time != 0) && !_released) { if ((_release_time != 0) && !_release_in_progress) {
if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) { if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) { if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo // move servo
@ -100,6 +100,7 @@ void AP_Parachute::update()
// set relay // set relay
_relay.on(_release_type); _relay.on(_release_type);
} }
_release_in_progress = true;
_released = true; _released = true;
} }
}else if ((_release_time == 0) || time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS + AP_PARACHUTE_RELEASE_DURATION_MS) { }else if ((_release_time == 0) || time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS + AP_PARACHUTE_RELEASE_DURATION_MS) {
@ -111,7 +112,7 @@ void AP_Parachute::update()
_relay.off(_release_type); _relay.off(_release_type);
} }
// reset released flag and release_time // reset released flag and release_time
_released = false; _release_in_progress = false;
_release_time = 0; _release_time = 0;
// update AP_Notify // update AP_Notify
AP_Notify::flags.parachute_release = 0; AP_Notify::flags.parachute_release = 0;

6
libraries/AP_Parachute/AP_Parachute.h
View File

@ -49,6 +49,9 @@ public:
/// release - release parachute /// release - release parachute
void release(); void release();
/// released - true if the parachute has been released (or release is in progress)
bool released() const { return _released; }
/// update - shuts off the trigger should be called at about 10hz /// update - shuts off the trigger should be called at about 10hz
void update(); void update();
@ -69,7 +72,8 @@ private:
// internal variables // 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 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) 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 bool _release_in_progress:1; // true if the parachute release is in progress
bool _released:1; // true if the parachute has been released
}; };
#endif /* AP_PARACHUTE_H */ #endif /* AP_PARACHUTE_H */