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Parachute: set servo or relay to off position on every update

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This resolves the issue of the parachute servo's position not being
initialised to the off position due to an ordering problem of the
auxiliary servos being initialised after the parachute object.
This commit is contained in:
Randy Mackay 2014-10-18 17:12:50 +09:00
parent a559a12ea2
commit 542ec29e49
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Parachute/AP_Parachute.cpp
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@ -83,7 +83,7 @@ void AP_Parachute::release()
void AP_Parachute::update()
{
// exit immediately if not enabled or parachute not to be released
if (_enabled <= 0 || _release_time == 0) {
if (_enabled <= 0) {
return;
}
@ -91,7 +91,7 @@ void AP_Parachute::update()
uint32_t time_diff = hal.scheduler->millis() - _release_time;
// check if we should release parachute
if (!_released) {
if ((_release_time != 0) && !_released) {
if (time_diff >= AP_PARACHUTE_RELEASE_DELAY_MS) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo
@ -102,7 +102,7 @@ void AP_Parachute::update()
}
_released = true;
}
}else if (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) {
if (_release_type == AP_PARACHUTE_TRIGGER_TYPE_SERVO) {
// move servo back to off position
RC_Channel_aux::set_radio(RC_Channel_aux::k_parachute_release, _servo_off_pwm);