add parachute-unavailable code

ArduCopter/Copter.h

@@ -528,7 +528,7 @@ class Copter : public AP_Vehicle {
 #endif
 
     // Parachute release
-#if PARACHUTE == ENABLED
+#if PARACHUTE == ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
     AP_Parachute parachute;
 #endif
 

ArduCopter/land_detector.cpp

@@ -25,6 +25,10 @@ void Copter::update_land_and_crash_detectors()
 #if PARACHUTE == ENABLED
     // check parachute
     parachute_check();
+#elif AP_PARACHUTE_UNAVAILABLE_ENABLED
+    if (AP::parachute()->mistakenly_enabled()) {
+        AP_BoardConfig::config_error("Parachute enabled but not compiled in");
+    }
 #endif
 
     crash_check();

ArduPlane/Plane.h

@@ -634,7 +634,7 @@ class Plane : public AP_Vehicle {
             FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)};
 
 
-#if PARACHUTE == ENABLED
+#if PARACHUTE == ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
     AP_Parachute parachute;
 #endif
 

ArduPlane/parachute.cpp

@@ -9,6 +9,10 @@ void Plane::parachute_check()
 #if PARACHUTE == ENABLED
     parachute.update();
     parachute.check_sink_rate();
+#elif AP_PARACHUTE_UNAVAILABLE_ENABLED
+    if (AP::parachute()->mistakenly_enabled()) {
+        AP_BoardConfig::config_error("Parachute enabled but not compiled in");
+    }
 #endif
 }
 

libraries/AP_Parachute/AP_Parachute.cpp

@@ -1,15 +1,25 @@
+#include "AP_Parachute_config.h"
+
+#if HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
+
+#if HAL_PARACHUTE_ENABLED && AP_PARACHUTE_UNAVAILABLE_ENABLED
+#error "Only one of HAL_PARACHUTE_ENABLED and AP_PARACHUTE_UNAVAILABLE_ENABLED can be set"
+#endif
+
 #include "AP_Parachute.h"
 
-#if HAL_PARACHUTE_ENABLED
+/*
+ *  This is not standard parameter conversion code; it is
+ *  compatability code we are using to remove parachute support from
+ *  1MB boards without leaving users that *are* using parachutes on
+ *  1MB boards with a sneakily broken parachute system.  We enable
+ *  just enough of the parachute library to check if the enable
+ *  parameter is set; if it is we throw a config error, making the
+ *  vehicle non-flyable.
+ */
+// PARAMETER_CONVERSION - Added: Feb-2024
 
-#include <AP_Relay/AP_Relay.h>
-#include <AP_Math/AP_Math.h>
-#include <RC_Channel/RC_Channel.h>
-#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>
+#include <AP_Param/AP_Param.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -22,6 +32,7 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
     // @User: Standard
     AP_GROUPINFO_FLAGS("ENABLED", 0, AP_Parachute, _enabled, 0, AP_PARAM_FLAG_ENABLE),
 
+#if HAL_PARACHUTE_ENABLED
     // @Param: TYPE
     // @DisplayName: Parachute release mechanism type (relay or servo)
     // @Description: Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. 
@@ -81,10 +92,24 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
     // @Bitmask: 0:hold open forever after release
     // @User: Standard
     AP_GROUPINFO("OPTIONS", 7, AP_Parachute, _options, 0),
+#endif  // HAL_PARACHUTE_ENABLED
 
     AP_GROUPEND
 };
 
+#endif  // HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
+
+#if HAL_PARACHUTE_ENABLED
+
+#include <AP_Relay/AP_Relay.h>
+#include <AP_Math/AP_Math.h>
+#include <RC_Channel/RC_Channel.h>
+#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>
+
 /// enabled - enable or disable parachute release
 void AP_Parachute::enabled(bool on_off)
 {
@@ -249,6 +274,10 @@ bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
 }
 #endif
 
+#endif // HAL_PARACHUTE_ENABLED
+
+#if HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
+
 // singleton instance
 AP_Parachute *AP_Parachute::_singleton;
 
@@ -260,4 +289,5 @@ AP_Parachute *parachute()
 }
 
 }
-#endif // HAL_PARACHUTE_ENABLED
+
+#endif  // HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED

libraries/AP_Parachute/AP_Parachute.h

@@ -2,6 +2,10 @@
 /// @brief  Parachute release library
 #pragma once
 
+#include "AP_Parachute_config.h"
+
+#if HAL_PARACHUTE_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
 
@@ -21,13 +25,6 @@
 
 #define AP_PARACHUTE_CRITICAL_SINK_DEFAULT      0    // default critical sink speed in m/s to trigger emergency parachute
 
-#ifndef HAL_PARACHUTE_ENABLED
-// default to parachute enabled to match previous configs
-#define HAL_PARACHUTE_ENABLED 1
-#endif
-
-#if HAL_PARACHUTE_ENABLED
-
 /// @class  AP_Parachute
 /// @brief  Class managing the release of a parachute
 class AP_Parachute {
@@ -124,4 +121,44 @@ namespace AP {
     AP_Parachute *parachute();
 };
 
+#elif AP_PARACHUTE_UNAVAILABLE_ENABLED
+
+/*
+ * minimal class definition for a shim AP_Parachute. just enough to be
+ * able to interpret the "enabled" parameter.
+ */
+
+#include <AP_Param/AP_Param.h>
+class AP_Parachute {
+public:
+    /// Constructor
+    AP_Parachute()
+    {
+        _singleton = this;
+        AP_Param::setup_object_defaults(this, var_info);
+
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_Parachute);
+
+    AP_Int8     _enabled;       // 1 if parachute release is enabled
+
+    static const struct AP_Param::GroupInfo        var_info[];
+
+    /// returns true if parachute is enabled but compiled out of the code
+    bool mistakenly_enabled() const { return _enabled != 0; }
+
+    // get singleton instance
+    static AP_Parachute *get_singleton() { return _singleton; }
+
+private:
+    static AP_Parachute *_singleton;
+};
+
+namespace AP {
+    AP_Parachute *parachute();
+};
+
 #endif // HAL_PARACHUTE_ENABLED

libraries/AP_Parachute/AP_Parachute_config.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_PARACHUTE_ENABLED
+// default to parachute enabled to match previous configs
+#define HAL_PARACHUTE_ENABLED 1
+#endif
+
+#ifndef AP_PARACHUTE_UNAVAILABLE_ENABLED
+#define AP_PARACHUTE_UNAVAILABLE_ENABLED !HAL_PARACHUTE_ENABLED && BOARD_FLASH_SIZE <= 1024
+#endif