Line data    Source code

       1             : #include "Plane.h"
       2             : 
       3             : 
       4             : /* 
       5             :    call parachute library update
       6             : */
       7      547089 : void Plane::parachute_check()
       8             : {
       9             : #if HAL_PARACHUTE_ENABLED
      10      547089 :     parachute.update();
      11      547089 :     parachute.check_sink_rate();
      12             : #endif
      13      547089 : }
      14             : 
      15             : #if HAL_PARACHUTE_ENABLED
      16             : 
      17             : /*
      18             :   parachute_release - trigger the release of the parachute
      19             : */
      20           3 : void Plane::parachute_release()
      21             : {
      22           3 :     if (parachute.release_in_progress()) {
      23           0 :         return;
      24             :     }
      25           3 :     if (parachute.released()) {
      26           0 :         gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released again");
      27             :     } else {
      28           3 :         gcs().send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released");
      29             :     }
      30             : 
      31             :     // release parachute
      32           3 :     parachute.release();
      33             : 
      34             : #if AP_LANDINGGEAR_ENABLED
      35             :     // deploy landing gear
      36           3 :     g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
      37             : #endif
      38             : }
      39             : 
      40             : /*
      41             :   parachute_manual_release - trigger the release of the parachute,
      42             :   after performing some checks for pilot error checks if the vehicle
      43             :   is landed
      44             : */
      45           2 : bool Plane::parachute_manual_release()
      46             : {
      47             :     // exit immediately if parachute is not enabled
      48           2 :     if (!parachute.enabled() || parachute.released()) {
      49           0 :         return false;
      50             :     }
      51             : 
      52           4 :     if (parachute.alt_min() > 0 && relative_ground_altitude(RangeFinderUse::NONE) < parachute.alt_min() &&
      53           2 :             auto_state.last_flying_ms > 0) {
      54             :         // Allow manual ground tests by only checking if flying too low if we've taken off
      55           0 :         gcs().send_text(MAV_SEVERITY_WARNING, "Parachute: Too low");
      56           0 :         return false;
      57             :     }
      58             : 
      59             :     // if we get this far release parachute
      60           2 :     parachute_release();
      61             : 
      62             : #if AP_LANDINGGEAR_ENABLED
      63             :     // deploy landing gear
      64           2 :     g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
      65             : #endif
      66           2 :     return true;    
      67             : }
      68             : #endif