From 47c1cb8b99350d9e83562736d54381ab6a64ff9c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Apr 2014 17:55:34 +0900
Subject: [PATCH] Copter: log parachute events

---
 ArduCopter/control_modes.pde |  2 ++
 ArduCopter/crash_check.pde   | 26 +++++++++++++++++---------
 ArduCopter/defines.h         |  7 +++++++
 3 files changed, 26 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 98060217d2..fdc90263de 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -387,9 +387,11 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
         switch (ch_flag) {
             case AUX_SWITCH_LOW:
                 parachute.enabled(false);
+                Log_Write_Event(DATA_PARACHUTE_DISABLED);
                 break;
             case AUX_SWITCH_MIDDLE:
                 parachute.enabled(true);
+                Log_Write_Event(DATA_PARACHUTE_ENABLED);
                 break;
             case AUX_SWITCH_HIGH:
                 parachute.enabled(true);
diff --git a/ArduCopter/crash_check.pde b/ArduCopter/crash_check.pde
index eb0535d032..3cf1cc486f 100644
--- a/ArduCopter/crash_check.pde
+++ b/ArduCopter/crash_check.pde
@@ -103,12 +103,17 @@ void parachute_check()
         return;
     }
 
-    // ensure we are above the minimum altitude above home
-    if (baro_alt < parachute.alt_min_cm()) {
+    // ensure we are flying
+    if (ap.land_complete) {
         control_loss_count = 0;
         return;
     }
 
+    // ensure the first control_loss event is from above the min altitude
+    if (control_loss_count == 0 && parachute.alt_min_cm() != 0 && baro_alt < parachute.alt_min_cm()) {
+        return;
+    }
+
     // get desired lean angles
     const Vector3f& target_angle = attitude_control.angle_ef_targets();
 
@@ -122,7 +127,7 @@ void parachute_check()
             control_loss_count = PARACHUTE_CHECK_ITERATIONS_MAX;
         }
 
-        // record baro if we have just started losing control
+        // record baro alt if we have just started losing control
         if (control_loss_count == 1) {
             baro_alt_start = baro_alt;
 
@@ -137,6 +142,8 @@ void parachute_check()
         }else if (control_loss_count >= PARACHUTE_CHECK_ITERATIONS_MAX) {
             // reset control loss counter
             control_loss_count = 0;
+            // log an error in the dataflash
+            Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL);
             // release parachute
             parachute_release();
         }
@@ -151,11 +158,9 @@ static void parachute_release()
 {
     // To-Do: add warning tone and short delay before triggering release
 
-    // log an error in the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
-
-    // send message to gcs
+    // send message to gcs and dataflash
     gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Released!"));
+    Log_Write_Event(DATA_PARACHUTE_RELEASED);
 
     // disarm motors
     init_disarm_motors();
@@ -169,13 +174,16 @@ static void parachute_release()
 static void parachute_manual_release()
 {
     // do not release if we are landed or below the minimum altitude above home
-    if (ap.land_complete || baro_alt < parachute.alt_min_cm()) {
+    if (ap.land_complete || (parachute.alt_min_cm() != 0 && baro_alt < parachute.alt_min_cm())) {
         // warn user of reason for failure
-        gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Not Released"));
+        gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Too Low"));
+        // log an error in the dataflash
+        Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
         return;
     }
 
     // if we get this far release parachute
     parachute_release();
 }
+
 #endif // PARACHUTE == ENABLED
\ No newline at end of file
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 1943ddc7b5..a0a1782479 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -282,6 +282,9 @@ enum FlipState {
 #define DATA_EPM_ON                     46
 #define DATA_EPM_OFF                    47
 #define DATA_EPM_NEUTRAL                48
+#define DATA_PARACHUTE_DISABLED         49
+#define DATA_PARACHUTE_ENABLED          50
+#define DATA_PARACHUTE_RELEASED         51
 
 // Centi-degrees to radians
 #define DEGX100 5729.57795f
@@ -327,6 +330,7 @@ enum FlipState {
 #define ERROR_SUBSYSTEM_CRASH_CHECK         12
 #define ERROR_SUBSYSTEM_FLIP                13
 #define ERROR_SUBSYSTEM_AUTOTUNE            14
+#define ERROR_SUBSYSTEM_PARACHUTE           15
 // general error codes
 #define ERROR_CODE_ERROR_RESOLVED           0
 #define ERROR_CODE_FAILED_TO_INITIALISE     1
@@ -343,10 +347,13 @@ enum FlipState {
 #define ERROR_CODE_MAIN_INS_DELAY           1
 // subsystem specific error codes -- crash checker
 #define ERROR_CODE_CRASH_CHECK_CRASH        1
+#define ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL 2
 // subsystem specific error codes -- flip
 #define ERROR_CODE_FLIP_ABANDONED           2
 // subsystem specific error codes -- autotune
 #define ERROR_CODE_AUTOTUNE_BAD_GAINS       2
+// parachute failed to deploy because of low altitude
+#define ERROR_CODE_PARACHUTE_TOO_LOW        2
 
 // Arming Check Enable/Disable bits
 #define ARMING_CHECK_NONE                   0x00