From 005ec5cd4d3b316143cc4babdfd7b5d3b979a2e1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 2 Feb 2019 08:48:19 +1100
Subject: [PATCH] AP_Parachute: move responsibility for parachute deployment up

---
 libraries/AP_Parachute/AP_Parachute.cpp | 19 +++++++++++++++++++
 libraries/AP_Parachute/AP_Parachute.h   | 14 ++++++++++++++
 2 files changed, 33 insertions(+)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index c2f1606fac9..e792571f147 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -5,6 +5,8 @@
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Logger/AP_Logger.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -70,6 +72,8 @@ void AP_Parachute::enabled(bool on_off)
 
     // clear release_time
     _release_time = 0;
+
+    AP::logger().Write_Event(_enabled ? DATA_PARACHUTE_ENABLED : DATA_PARACHUTE_DISABLED);
 }
 
 /// release - release parachute
@@ -80,6 +84,9 @@ void AP_Parachute::release()
         return;
     }
 
+    gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Released");
+    AP::logger().Write_Event(DATA_PARACHUTE_RELEASED);
+
     // set release time to current system time
     if (_release_time == 0) {
         _release_time = AP_HAL::millis();
@@ -131,3 +138,15 @@ void AP_Parachute::update()
         AP_Notify::flags.parachute_release = 0;
     }
 }
+
+// singleton instance
+AP_Parachute *AP_Parachute::_singleton;
+
+namespace AP {
+
+AP_Parachute *parachute()
+{
+    return AP_Parachute::get_singleton();
+}
+
+}
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
index 38b4cd82de3..7d4378112f4 100644
--- a/libraries/AP_Parachute/AP_Parachute.h
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -30,6 +30,12 @@ public:
         : _relay(relay)
     {
         // setup parameter defaults
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        if (_singleton != nullptr) {
+            AP_HAL::panic("Rally must be singleton");
+        }
+#endif
+        _singleton = this;
         AP_Param::setup_object_defaults(this, var_info);
     }
 
@@ -64,7 +70,11 @@ public:
 
     static const struct AP_Param::GroupInfo        var_info[];
 
+    // get singleton instance
+    static AP_Parachute *get_singleton() { return _singleton; }
+
 private:
+    static AP_Parachute *_singleton;
     // Parameters
     AP_Int8     _enabled;       // 1 if parachute release is enabled
     AP_Int8     _release_type;  // 0:Servo,1:Relay
@@ -80,3 +90,7 @@ private:
     bool        _release_in_progress:1;  // true if the parachute release is in progress
     bool        _released:1;             // true if the parachute has been released
 };
+
+namespace AP {
+    AP_Parachute *parachute();
+};