From 879d447404ffb34359e452a41d1076c4047052a9 Mon Sep 17 00:00:00 2001 From: Randy Mackay <rmackay9@yahoo.com> Date: Mon, 7 Apr 2014 11:17:07 +0900 Subject: [PATCH] Parachute: alt_min units to meters --- libraries/AP_Parachute/AP_Parachute.cpp | 8 ++++---- libraries/AP_Parachute/AP_Parachute.h | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp index b5502742d..9b6c691d1 100644 --- a/libraries/AP_Parachute/AP_Parachute.cpp +++ b/libraries/AP_Parachute/AP_Parachute.cpp @@ -46,11 +46,11 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] PROGMEM = { // @Param: ALT_MIN // @DisplayName: Parachute min altitude in cm above home // @Description: Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check. - // @Range: 0 10000 - // @Units: Centimeters - // @Increment: 100 + // @Range: 0 32000 + // @Units: Meters + // @Increment: 1 // @User: Standard - AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min_cm, AP_PARACHUTE_ALT_MIN_DEFAULT), + AP_GROUPINFO("ALT_MIN", 4, AP_Parachute, _alt_min, AP_PARACHUTE_ALT_MIN_DEFAULT), AP_GROUPEND }; diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h index 344079ed4..dbc50f247 100644 --- a/libraries/AP_Parachute/AP_Parachute.h +++ b/libraries/AP_Parachute/AP_Parachute.h @@ -22,7 +22,7 @@ #define AP_PARACHUTE_SERVO_ON_PWM_DEFAULT 1300 // default PWM value to move servo to when shutter is activated #define AP_PARACHUTE_SERVO_OFF_PWM_DEFAULT 1100 // default PWM value to move servo to when shutter is deactivated -#define AP_PARACHUTE_ALT_MIN_DEFAULT 1000 // default min altitude the vehicle should have before parachute is released +#define AP_PARACHUTE_ALT_MIN_DEFAULT 10 // default min altitude the vehicle should have before parachute is released /// @class AP_Parachute /// @brief Class managing the release of a parachute @@ -52,9 +52,9 @@ public: /// update - shuts off the trigger should be called at about 10hz void update(); - /// alt_min_cm - returns the min altitude above home the vehicle should have before parachute is released + /// alt_min - returns the min altitude above home the vehicle should have before parachute is released /// 0 = altitude check disabled - int16_t alt_min_cm() const { return _alt_min_cm; } + int16_t alt_min() const { return _alt_min; } static const struct AP_Param::GroupInfo var_info[]; @@ -64,7 +64,7 @@ private: AP_Int8 _release_type; // 0:Servo,1:Relay AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated - AP_Int16 _alt_min_cm; // min altitude the vehicle should have before parachute is released + AP_Int16 _alt_min; // min altitude the vehicle should have before parachute is released // internal variables AP_Relay& _relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2 -- GitLab