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58 lines
1.3 KiB
58 lines
1.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Plane.h" |
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/* |
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call parachute library update |
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*/ |
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void Plane::parachute_check() |
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{ |
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parachute.update(); |
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} |
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/* |
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parachute_release - trigger the release of the parachute |
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*/ |
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void Plane::parachute_release() |
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{ |
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if (parachute.released()) { |
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return; |
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} |
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// send message to gcs and dataflash |
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gcs_send_text(MAV_SEVERITY_CRITICAL,"Parachute: Released"); |
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// release parachute |
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parachute.release(); |
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} |
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/* |
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parachute_manual_release - trigger the release of the parachute, |
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after performing some checks for pilot error checks if the vehicle |
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is landed |
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*/ |
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bool Plane::parachute_manual_release() |
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{ |
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// exit immediately if parachute is not enabled |
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if (!parachute.enabled() || parachute.released()) { |
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return false; |
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} |
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// do not release if vehicle is not flying |
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if (!is_flying()) { |
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// warn user of reason for failure |
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gcs_send_text(MAV_SEVERITY_WARNING,"Parachute: Not flying"); |
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return false; |
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} |
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if (relative_ground_altitude() < parachute.alt_min()) { |
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gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Parachute: Too low"); |
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return false; |
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} |
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// if we get this far release parachute |
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parachute_release(); |
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return true; |
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}
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