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79 lines
3.1 KiB
79 lines
3.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AP_Parachute.h |
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/// @brief Parachute release library |
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#ifndef AP_PARACHUTE_H |
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#define AP_PARACHUTE_H |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Relay/AP_Relay.h> |
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_0 0 |
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_1 1 |
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_2 2 |
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#define AP_PARACHUTE_TRIGGER_TYPE_RELAY_3 3 |
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#define AP_PARACHUTE_TRIGGER_TYPE_SERVO 10 |
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#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 |
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#define AP_PARACHUTE_RELEASE_DURATION_MS 2000 // when parachute is released, servo or relay stay at their released position/value for 2000ms (2seconds) |
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#define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated |
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#define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated |
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#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released |
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/// @class AP_Parachute |
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/// @brief Class managing the release of a parachute |
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class AP_Parachute { |
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public: |
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/// Constructor |
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AP_Parachute(AP_Relay& relay) : |
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_relay(relay), |
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_release_time(0), |
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_released(false) |
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{ |
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// setup parameter defaults |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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/// enabled - enable or disable parachute release |
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void enabled(bool on_off); |
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/// enabled - returns true if parachute release is enabled |
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bool enabled() const { return _enabled; } |
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/// release - release parachute |
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void release(); |
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/// released - true if the parachute has been released (or release is in progress) |
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bool released() const { return _released; } |
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/// update - shuts off the trigger should be called at about 10hz |
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void update(); |
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/// alt_min - returns the min altitude above home the vehicle should have before parachute is released |
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/// 0 = altitude check disabled |
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int16_t alt_min() const { return _alt_min; } |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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// Parameters |
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AP_Int8 _enabled; // 1 if parachute release is enabled |
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AP_Int8 _release_type; // 0:Servo,1:Relay |
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AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated |
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AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated |
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AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released |
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// internal variables |
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AP_Relay &_relay; // pointer to relay object from the base class Relay. |
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uint32_t _release_time; // system time that parachute is ordered to be released (actual release will happen 0.5 seconds later) |
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bool _release_in_progress:1; // true if the parachute release is in progress |
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bool _released:1; // true if the parachute has been released |
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}; |
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#endif /* AP_PARACHUTE_H */
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