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| author | Julian Oes <julian@oes.ch> | 2014-02-13 16:08:49 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-02-13 16:08:49 +0100 |
| commit | 036ebdbe78defdcc8c1cf5955e8df773a16e7e8c (patch) | |
| tree | b3d57f586c805d52b8fa0bf96ee9b7b305f860a3 /src | |
| parent | f6694c2cef62ee3284598ed1b4d8c6954effab4e (diff) | |
| download | px4-firmware-036ebdbe78defdcc8c1cf5955e8df773a16e7e8c.tar.gz px4-firmware-036ebdbe78defdcc8c1cf5955e8df773a16e7e8c.tar.bz2 px4-firmware-036ebdbe78defdcc8c1cf5955e8df773a16e7e8c.zip | |
Commander: add guard for parachute deployment
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/commander/commander.cpp | 14 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_params.c | 1 |
2 files changed, 10 insertions, 5 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index c039b8573..8129dddb3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -152,6 +152,7 @@ static uint64_t last_print_mode_reject_time = 0; static bool on_usb_power = false; static float takeoff_alt = 5.0f; +static int parachute_enabled = 0; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -563,7 +564,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* Flight termination */ case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command - if (armed->armed && cmd->param3 > 0.5) { //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO + //XXX: to enable the parachute, a param needs to be set + //xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO + if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) { transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION); result = VEHICLE_CMD_RESULT_ACCEPTED; ret = true; @@ -615,6 +618,7 @@ int commander_thread_main(int argc, char *argv[]) param_t _param_system_id = param_find("MAV_SYS_ID"); param_t _param_component_id = param_find("MAV_COMP_ID"); param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT"); + param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN"); /* welcome user */ warnx("starting"); @@ -860,10 +864,10 @@ int commander_thread_main(int argc, char *argv[]) /* re-check RC calibration */ rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd)); - - /* navigation parameters */ - param_get(_param_takeoff_alt, &takeoff_alt); } + /* navigation parameters */ + param_get(_param_takeoff_alt, &takeoff_alt); + param_get(_param_enable_parachute, ¶chute_enabled); } orb_check(sp_man_sub, &updated); @@ -1251,7 +1255,7 @@ int commander_thread_main(int argc, char *argv[]) // TODO remove this hack /* flight termination in manual mode if assisted switch is on easy position */ - if (!status.is_rotary_wing && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(); } diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 1ba159a8e..9e05bbffa 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -61,3 +61,4 @@ PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT +PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); // enable parachute deployment |