Line data    Source code

       1             : /// @file   AP_Parachute.h
       2             : /// @brief  Parachute release library
       3             : #pragma once
       4             : 
       5             : #include "AP_Parachute_config.h"
       6             : 
       7             : #if HAL_PARACHUTE_ENABLED
       8             : 
       9             : #include <AP_Param/AP_Param.h>
      10             : #include <AP_Common/AP_Common.h>
      11             : 
      12             : #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0       0
      13             : #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1       1
      14             : #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2       2
      15             : #define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3       3
      16             : #define AP_PARACHUTE_TRIGGER_TYPE_SERVO         10
      17             : 
      18             : #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
      19             : #define AP_PARACHUTE_RELEASE_DURATION_MS       2000    // when parachute is released, servo or relay stay at their released position/value for 2000ms (2seconds)
      20             : 
      21             : #define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT      1300    // default PWM value to move servo to when shutter is activated
      22             : #define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT     1100    // default PWM value to move servo to when shutter is deactivated
      23             : 
      24             : #define AP_PARACHUTE_ALT_MIN_DEFAULT            10     // default min altitude the vehicle should have before parachute is released
      25             : 
      26             : #define AP_PARACHUTE_CRITICAL_SINK_DEFAULT      0      // default critical sink speed in m/s to trigger emergency parachute
      27             : #define AP_PARACHUTE_OPTIONS_DEFAULT            0      // default parachute options: enabled disarm after parachute release
      28             : 
      29             : /// @class  AP_Parachute
      30             : /// @brief  Class managing the release of a parachute
      31             : class AP_Parachute {
      32             : 
      33             : public:
      34             :     /// Constructor
      35        1693 :     AP_Parachute()
      36        1693 :     {
      37             :         // setup parameter defaults
      38             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
      39        1693 :         if (_singleton != nullptr) {
      40           0 :             AP_HAL::panic("Parachute must be singleton");
      41             :         }
      42             : #endif
      43        1693 :         _singleton = this;
      44        1693 :         AP_Param::setup_object_defaults(this, var_info);
      45        1693 :     }
      46             : 
      47             :     /* Do not allow copies */
      48             :     CLASS_NO_COPY(AP_Parachute);
      49             : 
      50             :     /// enabled - enable or disable parachute release
      51             :     void enabled(bool on_off);
      52             : 
      53             :     /// enabled - returns true if parachute release is enabled
      54    30414129 :     bool enabled() const { return _enabled; }
      55             : 
      56             :     /// release - release parachute
      57             :     void release();
      58             : 
      59             :     /// released - true if the parachute has been released (or release is in progress)
      60           7 :     bool released() const { return _released; }
      61             : 
      62             :     /// release_initiated - true if the parachute release sequence has been initiated (may wait before actual release)
      63     5422049 :     bool release_initiated() const { return _release_initiated; }
      64             : 
      65             :     /// release_in_progress - true if the parachute release sequence is in progress
      66           3 :     bool release_in_progress() const { return _release_in_progress; }
      67             : 
      68             :     /// update - shuts off the trigger should be called at about 10hz
      69             :     void update();
      70             : 
      71             :     /// alt_min - returns the min altitude above home the vehicle should have before parachute is released
      72             :     ///   0 = altitude check disabled
      73       31606 :     int16_t alt_min() const { return _alt_min; }
      74             : 
      75             :     /// set_is_flying - accessor to the is_flying flag
      76      370073 :     void set_is_flying(const bool is_flying) { _is_flying = is_flying; }
      77             : 
      78             :     // set_sink_rate - set vehicle sink rate
      79             :     void set_sink_rate(float sink_rate);
      80             : 
      81             :     // trigger parachute release if sink_rate is below critical_sink_rate for 1sec
      82             :     void check_sink_rate();
      83             : 
      84             :     // check settings are valid
      85             :     bool arming_checks(size_t buflen, char *buffer) const;
      86             : 
      87             :     // Return the relay index that would be used for param conversion to relay functions
      88             :     bool get_legacy_relay_index(int8_t &index) const;
      89             : 
      90             :     static const struct AP_Param::GroupInfo        var_info[];
      91             : 
      92             :     // get singleton instance
      93       80091 :     static AP_Parachute *get_singleton() { return _singleton; }
      94             : 
      95             : private:
      96             :     static AP_Parachute *_singleton;
      97             :     // Parameters
      98             :     AP_Int8     _enabled;       // 1 if parachute release is enabled
      99             :     AP_Int8     _release_type;  // 0:Servo,1:Relay
     100             :     AP_Int16    _servo_on_pwm;  // PWM value to move servo to when shutter is activated
     101             :     AP_Int16    _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
     102             :     AP_Int16    _alt_min;       // min altitude the vehicle should have before parachute is released
     103             :     AP_Int16    _delay_ms;      // delay before chute release for motors to stop
     104             :     AP_Float    _critical_sink;      // critical sink rate to trigger emergency parachute
     105             : 
     106             :     // internal variables
     107             :     uint32_t    _release_time;  // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later)
     108             :     bool        _release_initiated:1;    // true if the parachute release initiated (may still be waiting for engine to be suppressed etc.)
     109             :     bool        _release_in_progress:1;  // true if the parachute release is in progress
     110             :     bool        _released:1;             // true if the parachute has been released
     111             :     bool        _is_flying:1;            // true if the vehicle is flying
     112             :     uint32_t    _sink_time_ms;           // system time that the vehicle exceeded critical sink rate
     113             : 
     114             :     enum class Options : uint8_t {
     115             :         HoldOpen = (1U<<0),
     116             :         SkipDisarmBeforeParachuteRelease = (1U<<1),
     117             :     };
     118             : 
     119             :     AP_Int32    _options;
     120             : };
     121             : 
     122             : namespace AP {
     123             :     AP_Parachute *parachute();
     124             : };
     125             : 
     126             : #endif // HAL_PARACHUTE_ENABLED