From ff32b27272ed8f0d903d5002028f8914fdc457d6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Apr 2014 00:19:54 +0900
Subject: [PATCH] Copter: integrate parachute lib
---
ArduCopter/APM_Config.h | 1 +
ArduCopter/ArduCopter.pde | 10 ++++++++++
ArduCopter/Parameters.h | 3 +++
ArduCopter/Parameters.pde | 6 ++++++
ArduCopter/config.h | 6 ++++++
5 files changed, 26 insertions(+)
diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index f78e600a4..aed96041b 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -29,6 +29,7 @@
//#define AC_FENCE DISABLED // disable fence to save 2k of flash
//#define CAMERA DISABLED // disable camera trigger to save 1k of flash
//#define CONFIG_SONAR DISABLED // disable sonar to save 1k of flash
+//#define PARACHUTE DISABLED // disable parachute release to save 1k of flash
// features below are disabled by default
//#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 78cfb29c4..4b39a8dce 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -143,6 +143,9 @@
#if EPM_ENABLED == ENABLED
#include <AP_EPM.h> // EPM cargo gripper stuff
#endif
+#if PARACHUTE == ENABLED
+#include <AP_Parachute.h> // Parachute release library
+#endif
// AP_HAL to Arduino compatibility layer
#include "compat.h"
@@ -712,6 +715,13 @@ static AC_Sprayer sprayer(&inertial_nav);
static AP_EPM epm;
#endif
+////////////////////////////////////////////////////////////////////////////////
+// Parachute release
+////////////////////////////////////////////////////////////////////////////////
+#if PARACHUTE == ENABLED
+static AP_Parachute parachute(relay);
+#endif
+
////////////////////////////////////////////////////////////////////////////////
// function definitions to keep compiler from complaining about undeclared functions
////////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 99c45f350..c575723c1 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -76,6 +76,9 @@ public:
// GPS object
k_param_gps,
+ // Parachute object
+ k_param_parachute, // 17
+
// Misc
//
k_param_log_bitmask = 20,
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 4e87c3f86..0de5138ff 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -864,6 +864,12 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(epm, "EPM_", AP_EPM),
#endif
+#if PARACHUTE == ENABLED
+ // @Group: CHUTE_
+ // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
+ GOBJECT(parachute, "CHUTE_", AP_Parachute),
+#endif
+
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 902b06e57..16661f9c9 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -404,6 +404,12 @@
# define EPM_ENABLED DISABLED
#endif
+//////////////////////////////////////////////////////////////////////////////
+// Parachute release
+#ifndef PARACHUTE
+ # define PARACHUTE ENABLED
+#endif
+
//////////////////////////////////////////////////////////////////////////////
// RADIO CONFIGURATION
//////////////////////////////////////////////////////////////////////////////
--
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