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AP_Parachute: Optional (CHUTE_OPTIONS:1) disarm before parachute release #26129

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merged 3 commits into from
Apr 10, 2024
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AP_Parachute: Optional (CHUTE_OPTIONS:1) disarm before parachute release #26129

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4fddd8f
AP_Parachute: optional (CHUTE_OPTIONS:1) disarm defore parachute release
python36 Apr 8, 2024
0d666a8
ArduCopter: optional (CHUTE_OPTIONS:1) disarm defore parachute release
python36 Apr 8, 2024
20fe981
ArduPlane: optional (CHUTE_OPTIONS:1) disarm defore parachute release
python36 Apr 8, 2024
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4 changes: 0 additions & 4 deletions ArduCopter/crash_check.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -269,7 +269,6 @@ void Copter::parachute_check()
}

if (parachute.release_initiated()) {
copter.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE);
return;
}

Expand Down Expand Up @@ -331,9 +330,6 @@ void Copter::parachute_check()
// parachute_release - trigger the release of the parachute, disarm the motors and notify the user
void Copter::parachute_release()
{
// disarm motors
arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE);

// release parachute
parachute.release();

Expand Down
4 changes: 0 additions & 4 deletions ArduPlane/events.cpp
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Expand Up @@ -140,8 +140,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED
parachute_release();
//stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
set_mode(mode_fbwa, reason);
Expand Down Expand Up @@ -191,8 +189,6 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED
parachute_release();
//stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
#endif
} else if (g.fs_action_long == FS_ACTION_LONG_GLIDE) {
set_mode(mode_fbwa, reason);
Expand Down
13 changes: 10 additions & 3 deletions libraries/AP_Parachute/AP_Parachute.cpp
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Expand Up @@ -10,6 +10,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_Arming/AP_Arming.h>

extern const AP_HAL::HAL& hal;

Expand Down Expand Up @@ -65,7 +66,7 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @Increment: 1
// @User: Standard
AP_GROUPINFO("DELAY_MS", 5, AP_Parachute, _delay_ms, AP_PARACHUTE_RELEASE_DELAY_MS),

// @Param: CRT_SINK
// @DisplayName: Critical sink speed rate in m/s to trigger emergency parachute
// @Description: Release parachute when critical sink rate is reached
Expand All @@ -78,9 +79,9 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Parachute options
// @Description: Optional behaviour for parachute
// @Bitmask: 0:hold open forever after release
// @Bitmask: 0:hold open forever after release,1:skip disarm before parachute release
// @User: Standard
AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, 0),
AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, AP_PARACHUTE_OPTIONS_DEFAULT),

AP_GROUPEND
};
Expand All @@ -107,6 +108,12 @@ void AP_Parachute::release()
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Parachute: Released");
LOGGER_WRITE_EVENT(LogEvent::PARACHUTE_RELEASED);

bool need_disarm = (_options.get() & uint32_t(Options::SkipDisarmBeforeParachuteRelease)) == 0;
if (need_disarm) {
// stop motors to avoid parachute tangling
AP::arming().disarm(AP_Arming::Method::PARACHUTE_RELEASE);
}

// set release time to current system time
if (_release_time == 0) {
_release_time = AP_HAL::millis();
Expand Down
4 changes: 3 additions & 1 deletion libraries/AP_Parachute/AP_Parachute.h
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Expand Up @@ -19,7 +19,8 @@

#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released

#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT 0 // default critical sink speed in m/s to trigger emergency parachute
#define AP_PARACHUTE_CRITICAL_SINK_DEFAULT 0 // default critical sink speed in m/s to trigger emergency parachute
#define AP_PARACHUTE_OPTIONS_DEFAULT 0 // default parachute options: enabled disarm after parachute release

#ifndef HAL_PARACHUTE_ENABLED
// default to parachute enabled to match previous configs
Expand Down Expand Up @@ -115,6 +116,7 @@ class AP_Parachute {

enum class Options : uint8_t {
HoldOpen = (1U<<0),
SkipDisarmBeforeParachuteRelease = (1U<<1),
};

AP_Int32 _options;
Expand Down
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