parachute module

This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan

Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.

Example for airframe file

Add to your firmware section:

<module name="parachute"/>

Module configuration options

Airframe file section

• section name: PARACHUTE prefix: PARACHUTE_

Module functions

Init Functions

These initialization functions are called once on startup.

• init_parachute()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• periodic_parachute()
  • Frequency in Hz: 50
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• parachute.h

Source Files

• modules/safety/parachute.c

Raw parachute.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="parachute" dir="safety">
  <doc>
    <description>This module keeps track of the current state of a rotating wing drone and desired state set by the RC or flightplan. Paramters are being scheduled in each change of a current state and desired state. Functions are defined in this module to call the actual state and desired state and set a desired state.</description>
    <section name="PARACHUTE" prefix="PARACHUTE_">
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Parachute">
        <dl_setting var="parachute.arming_method" min="0" step="1" max="2" values="OFF|AUTO|ALWAYS ON" shortname="arming"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="parachute.h"/>
  </header>
    <init fun="init_parachute()"/>
    <periodic fun="periodic_parachute()" freq="50"/>
  <makefile>
    <file name="parachute.c"/>
  </makefile>
</module>