Plane: Emergency Parachute Feature #9506

viniciusknabben · 2018-10-03T13:03:44Z

Releases parachute if a maximum vertical speed is reached
Releases parachute if a minumum battery voltage is reached
Created parameter to enable emergency parachute
Created parameters to set up emergency threshold values

Signed-off-by: Vinicius Knabben viniciusknabben@hotmail.com

OXINARF · 2018-10-03T14:38:48Z

Hi @viniciusknabben, thank you for your first contribution and welcome to ArduPilot! Please read our contribution rules at http://ardupilot.org/dev/docs/submitting-patches-back-to-master.html, especially the parts about the commit message rules and the commit per-library/vehicle.

ArduPlane/parachute.cpp

viniciusknabben · 2018-10-03T16:03:50Z

Should i rename the PR to Plane: Emergency Parachute Feature ?

magicrub · 2018-10-03T16:13:29Z

ArduPlane/parachute.cpp

+        gcs().send_text(MAV_SEVERITY_CRITICAL,"Emergency Parachute: Stall detected");
+        parachute_release();
+    }
+    else if (battery.voltage() < parachute.min_batt_voltage()) {


This batt check needs hysteresis. Battery is notoriously noisy and fluctuates a lot depending on throttle and you don't want a single check to trigger the parachute. Perhaps what we need is a "super low-pass" version in the battery library because doing checks like are not the parachute's library duty to deal with.

Agreed, I will make a deep read on AP_BattMonitor and work on it

I'll take care of the battery stuff right now

Here's a PR #9508

please give it a try on your branch

Cool, i will do it

magicrub · 2018-10-03T16:18:32Z

These are generic checks that should get moved into AP_Parachute. Both copter and plane would benefit from:

battery
!flying
sink rate

They should all be in the single parachute::update()
A good general goal is copter and plane should share as much code as possible through the libraries.

The easiest way to do this is to add accessors in the chute library for an isFlying flag because those are determined by different mechanisms in plave vs copter. For plane, just pass it the is_flying flag when it gets set in is_flying.cpp like how frsky and adsb does.
https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/is_flying.cpp#L149

Same with sink rate, although I think we could be smarter with that through ahrs singleton but for now simply passing it the auto_state.sink_rate is fine.

WickedShell

The battery one is actually much easier to handle. Unless there is a strong reason not to, you should simply be adding release parachute as a battery failsafe action. The battery library will manage the triggers for you, add the time requirement, and will allow you to trigger off of capacity as well. All you have to do to make this work is add it to the list of enums (and priorities) here https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L1043

Then handle the action here: https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/events.cpp#L143 (this would just be calling parachute_release())

viniciusknabben · 2018-10-22T12:01:28Z

@WickedShell @magicrub , code updated

ArduPlane/Plane.h

ArduPlane/events.cpp

WickedShell · 2018-10-30T18:05:40Z

libraries/AP_Parachute/AP_Parachute.h

@@ -20,6 +20,10 @@

 #define AP_PARACHUTE_ALT_MIN_DEFAULT            10     // default min altitude the vehicle should have before parachute is released

+#define AP_PARACHUTE_EMERGENCY_DEFAULT          0       // default value to emergency parachute
+#define AP_PARACHUTE_MAX_SINK_DEFAULT           10.0    // default maximun sink speed in m/s to trigger emergency parachute
+#define AP_PARACHUTE_MIN_BATT_VOLTAGE_DEFAULT   10.0    // default minimum battery voltage to trigger emergency parachute


This is unneeded now that you are leveraging the failsafe system.

We should keep emergency and max sink default values, i will remove battery for now.

libraries/AP_Parachute/AP_Parachute.h

libraries/AP_Parachute/AP_Parachute.cpp

viniciusknabben · 2018-12-10T15:07:05Z

@WickedShell

viniciusknabben · 2019-01-08T10:22:46Z

@tridge @WickedShell

viniciusknabben · 2019-01-16T12:43:31Z

@tridge @WickedShell

tridge · 2019-02-12T00:52:57Z

libraries/AP_Parachute/AP_Parachute.h

+    void set_is_flying(const bool is_flying) { _is_flying = is_flying; }
+
+    // get_sink_rate - gets vehicle sink rate
+    void get_sink_rate(float sink_rate) { _sink_rate = sink_rate; }


this should be set_sink_rate() not get_sink_rate()

libraries/AP_Parachute/AP_Parachute.cpp

tridge · 2019-02-19T01:02:58Z

i think this looks good now, except for minor things:

the commit msg for plane makes no sense for the change
copter should call set_sink_rate() so it works on copters (as its a common parameter)

tridge · 2019-02-19T01:03:31Z

if you don't know how to fix commit msgs (and squash commits) then let me know and I can do it for you

libraries/AP_Parachute/AP_Parachute.cpp

libraries/AP_Parachute/AP_Parachute.h

viniciusknabben · 2019-02-19T11:56:04Z

if you don't know how to fix commit msgs (and squash commits) then let me know and I can do it for you

git rebase -i HEAD~x right? then squash and and change commit msg.

can you explain me about the commit msg? should i squash all commits into a single one and write a msg like: Plane: Added parachute release for dangerous sinking and battery failsafe

viniciusknabben · 2019-02-19T13:44:47Z

* copter should call set_sink_rate() so it works on copters (as its a common parameter)

I'm a bit confused where copter calcs its altitude variation to call set_sink_rate()

peterbarker · 2019-02-20T09:31:42Z

On Tue, 19 Feb 2019, Vinicius Knabben wrote: if you don't know how to fix commit msgs (and squash commits) then let me know and I can do it for you git rebase -i HEAD~x right? then squash and and change commit msg.

Assuming you are on a topic branch, something like this: git rebase -i remotes/origin/master (this is much the same thing, asking git to rebase onto a different commit; the last argument differs as there are *many* ways to specify which commit to rebase onto). As always when learning git - make a backup first :-)

can you explain me about the commit msg? should i squash all commits into a single one and write a msg like: Plane: Added parachute release for dangerous sinking and battery failsafe

Yes. So long as all the commits are in the ArduPlane directory, otherwise you will need to split the commits into one per vehicle/library. Peter

fixed

tridge · 2019-02-21T20:08:23Z

I've added in the sink rate to copter.
When adding it though I wondered about temporary glitches in sink rate estimation. Perhaps we should make this check in the parachute library require that the sink rate be exceeded continuously for a full second?

viniciusknabben · 2019-02-22T13:43:11Z

I've added in the sink rate to copter.
When adding it though I wondered about temporary glitches in sink rate estimation. Perhaps we should make this check in the parachute library require that the sink rate be exceeded continuously for a full second?

Agreed, we could also make this a parameter.

In some cases the plane/copter could have time to recover, the user change the value

peterbarker · 2019-03-25T03:43:32Z

Rebase required.

Last commit needs fixup'ing into another.

viniciusknabben · 2019-03-27T11:53:45Z

@peterbarker Rebase done

peterbarker · 2019-03-28T00:57:51Z

@viniciusknabben Do you think you have addressed @WickedShell 's concerns in his review?

viniciusknabben · 2019-03-28T11:51:07Z

@peterbarker, i think i did, the concern was about where to handle the parachute release when the battery reaches a critical voltage. The triggers were already there and i simply added the parachute action (3bdf81b and 9b2611d) as suggested by @WickedShell.

WickedShell · 2019-04-26T00:37:23Z

ArduPlane/events.cpp

@@ -172,6 +172,10 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
            afs.gcs_terminate(true, battery_type_str);
            break;

+        case Failsafe_Action_Parachute:
+            parachute_release();


Should the vehicle be disarmed here? I haven't investigated the parachute code in the past, but what keeps us from spinning motors once the parachute has been released?

The throttle is suppressed when the parachute release is initiated.

ardupilot/ArduPlane/servos.cpp

Lines 54 to 62 in 12e62d0

bool Plane::suppress_throttle(void)

{

#if PARACHUTE == ENABLED

if (auto_throttle_mode && parachute.release_initiated()) {

// throttle always suppressed in auto-throttle modes after parachute release initiated

throttle_suppressed = true;

return true;

}

#endif

peterbarker · 2019-04-26T01:01:56Z

This needs a rebase. There's a regression test for it here: https://github.com/peterbarker/ardupilot/tree/emergency_parachute - it would be nice to cherry-pick that on top.

…afe actions Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

The user can now set the parachute release as a failsafe action Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

OXINARF added Plane Library labels Oct 3, 2018

OXINARF requested review from tridge, WickedShell and magicrub October 3, 2018 14:39

OXINARF reviewed Oct 3, 2018

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viniciusknabben force-pushed the emergency_parachute branch from eceab07 to 58387b6 Compare October 3, 2018 15:55

magicrub reviewed Oct 3, 2018

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magicrub mentioned this pull request Oct 3, 2018

AP_BattMonitor: added voltage_smoothed #9508

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WickedShell requested changes Oct 3, 2018

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viniciusknabben changed the title ~~AP - Added Emergency Parachute Feature~~ AP_Emergency Parachute Feature Oct 4, 2018

viniciusknabben changed the title ~~AP_Emergency Parachute Feature~~ Plane: Emergency Parachute Feature Oct 4, 2018

viniciusknabben force-pushed the emergency_parachute branch from d3ba65d to 8ad1196 Compare October 5, 2018 20:22

WickedShell reviewed Oct 30, 2018

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OXINARF requested a review from WickedShell November 14, 2018 17:43

viniciusknabben force-pushed the emergency_parachute branch from f19bbf1 to a56742b Compare December 13, 2018 17:39

OXINARF added the DevCallTopic label Feb 11, 2019

viniciusknabben force-pushed the emergency_parachute branch 3 times, most recently from 4df17f9 to cc80551 Compare February 11, 2019 14:24

tridge previously requested changes Feb 12, 2019

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viniciusknabben force-pushed the emergency_parachute branch 2 times, most recently from f7ffcc8 to bca10cb Compare February 21, 2019 13:06

viniciusknabben mentioned this pull request Mar 1, 2019

Plane: basic automatic emergency parachute release at critical altitude error in AUTO. #3703

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viniciusknabben force-pushed the emergency_parachute branch from e738109 to 307d0eb Compare March 20, 2019 15:41

viniciusknabben force-pushed the emergency_parachute branch 2 times, most recently from b5e0d6b to f6e1b6b Compare March 27, 2019 11:51

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viniciusknabben and others added 5 commits April 29, 2019 10:19

Plane: Added parachute release on critcal sink rate and battery fails…

50bef90

…afe actions Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

AP_BattMonitor: Added parachute failsafe action to the parameters list

87165e0

The user can now set the parachute release as a failsafe action Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

AP_Parachute: Added parachute release at critical sink rate

6bc6da5

Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

Copter: added in sink rate for parachute check

583e82b

AP_Parachute: Added time check for sink rate to avoid glitches

245345d

Signed-off-by: Vinicius Knabben <viniciusknabben@hotmail.com>

viniciusknabben force-pushed the emergency_parachute branch from f6e1b6b to 245345d Compare April 29, 2019 13:35

peterbarker added the DevCallTopic label Apr 29, 2019

tridge merged commit 040fa3e into ArduPilot:master Apr 30, 2019

CraigElder removed the DevCallTopic label Jul 26, 2021

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Plane: Emergency Parachute Feature #9506

Plane: Emergency Parachute Feature #9506

viniciusknabben commented Oct 3, 2018

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peterbarker commented Apr 26, 2019

	bool Plane::suppress_throttle(void)
	{
	#if PARACHUTE == ENABLED
	if (auto_throttle_mode && parachute.release_initiated()) {
	// throttle always suppressed in auto-throttle modes after parachute release initiated
	throttle_suppressed = true;
	return true;
	}
	#endif

Plane: Emergency Parachute Feature #9506

Plane: Emergency Parachute Feature #9506

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