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Plane: Disarm after parachute release #25570

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Plane: Disarm after parachute release #25570

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97bb5c8
Disarm after parachute release
python36 Nov 17, 2023
ea6fedb
Merge branch 'master' into parachute_release_disarm
python36 Nov 20, 2023
d449c13
Merge branch 'master' into parachute_release_disarm
python36 Nov 21, 2023
3e8d511
Merge branch 'master' into parachute_release_disarm
python36 Nov 21, 2023
48ce20b
Merge branch 'master' into parachute_release_disarm
python36 Nov 23, 2023
4e1a39f
Merge branch 'master' into parachute_release_disarm
python36 Dec 18, 2023
2f89ac0
Merge branch 'master' into parachute_release_disarm
python36 Dec 19, 2023
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7 changes: 7 additions & 0 deletions ArduPlane/commands_logic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,13 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_NAV_DELAY:
mode_auto.do_nav_delay(cmd);
break;

case MAV_CMD_DO_PARACHUTE:
if (cmd.p1 == PARACHUTE_RELEASE) {
// stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);
}
break;

default:
// unable to use the command, allow the vehicle to try the next command
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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 @@ -183,8 +181,6 @@ 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);
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3 changes: 3 additions & 0 deletions ArduPlane/parachute.cpp
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Expand Up @@ -31,6 +31,9 @@ void Plane::parachute_release()
// release parachute
parachute.release();

// stop motors to avoid parachute tangling
plane.arming.disarm(AP_Arming::Method::PARACHUTE_RELEASE, false);

#if AP_LANDINGGEAR_ENABLED
// deploy landing gear
g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
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3 changes: 3 additions & 0 deletions libraries/AP_Mission/AP_Mission.cpp
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Expand Up @@ -434,6 +434,9 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
return start_command_camera(cmd);
#endif
case MAV_CMD_DO_PARACHUTE:
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
_cmd_start_fn(cmd);
#endif
return start_command_parachute(cmd);
case MAV_CMD_DO_SEND_SCRIPT_MESSAGE:
return start_command_do_scripting(cmd);
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