From 2b4d2697b216814c4a096443513b6eb864e1470f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Apr 2014 17:53:27 +0900
Subject: [PATCH] Copter: process MAV_CMD_DO_PARACHUTE commands
---
ArduCopter/commands_logic.pde | 39 +++++++++++++++++++++++++++++++++++
1 file changed, 39 insertions(+)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 33a904e7a..78b36129e 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -15,6 +15,9 @@ static void do_yaw(const AP_Mission::Mission_Command& cmd);
static void do_change_speed(const AP_Mission::Mission_Command& cmd);
static void do_set_home(const AP_Mission::Mission_Command& cmd);
static void do_roi(const AP_Mission::Mission_Command& cmd);
+#if PARACHUTE == ENABLED
+static void do_parachute(const AP_Mission::Mission_Command& cmd);
+#endif
static bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
static bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
static void auto_spline_start(const Vector3f& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f& next_spline_destination);
@@ -143,6 +146,12 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
break;
#endif
+#if PARACHUTE == ENABLED
+ case MAV_CMD_DO_PARACHUTE: // Mission command to configure or release parachute
+ do_parachute(cmd);
+ break;
+#endif
+
default:
// do nothing with unrecognized MAVLink messages
break;
@@ -217,6 +226,13 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd)
return verify_yaw();
break;
+#if PARACHUTE == ENABLED
+ case MAV_CMD_DO_PARACHUTE:
+ // assume parachute was released successfully
+ return true;
+ break;
+#endif
+
default:
// return true if we do not recognise the command so that we move on to the next command
return true;
@@ -437,6 +453,29 @@ static void do_spline_wp(const AP_Mission::Mission_Command& cmd)
auto_spline_start(local_pos, stopped_at_start, seg_end_type, next_destination);
}
+#if PARACHUTE == ENABLED
+// do_parachute - configure or release parachute
+static void do_parachute(const AP_Mission::Mission_Command& cmd)
+{
+ switch (cmd.p1) {
+ case PARACHUTE_DISABLE:
+ parachute.enabled(false);
+ Log_Write_Event(DATA_PARACHUTE_DISABLED);
+ break;
+ case PARACHUTE_ENABLE:
+ parachute.enabled(true);
+ Log_Write_Event(DATA_PARACHUTE_ENABLED);
+ break;
+ case PARACHUTE_RELEASE:
+ parachute_release();
+ break;
+ default:
+ // do nothing
+ break;
+ }
+}
+#endif
+
/********************************************************************************/
// Verify Nav (Must) commands
/********************************************************************************/
--
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