ArduPilot · peterbarker · Feb 2, 2024 · Feb 2, 2024 · Feb 2, 2024 · Feb 2, 2024
diff --git a/ArduCopter/Copter.h b/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
 

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -456,7 +456,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
-#if PARACHUTE == ENABLED
+#if PARACHUTE == ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
     // @Group: CHUTE_
     // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
     GOBJECT(parachute, "CHUTE_", AP_Parachute),

diff --git a/ArduCopter/land_detector.cpp b/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() && !motors->armed()) {
+        AP_BoardConfig::config_error("CHUTE_ENABLED=1 but not compiled in");
+    }
 #endif
 
     crash_check();

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -761,7 +761,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
-#if PARACHUTE == ENABLED
+#if PARACHUTE == ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
 	// @Group: CHUTE_
     // @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
     GOBJECT(parachute,		"CHUTE_", AP_Parachute),

diff --git a/ArduPlane/Plane.h b/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
 

diff --git a/ArduPlane/parachute.cpp b/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::arming().is_armed()) {
+        AP_BoardConfig::config_error("CHUTE_ENABLED=1 but not compiled in");
+    }
 #endif
 }
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat
@@ -144,3 +144,7 @@ define HAL_FRAME_TYPE_DEFAULT 12
 AUTOBUILD_TARGETS Copter
 
 include ../include/minimize_fpv_osd.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
@@ -139,4 +139,8 @@ define STM32_PWM_USE_ADVANCED TRUE
 # save some flash
 include ../include/minimize_fpv_osd.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 define DEFAULT_NTF_LED_TYPES 257
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat
@@ -63,4 +63,8 @@ define HAL_BARO_ALLOW_INIT_NO_BARO 1
 # save some flash
 include ../include/minimize_fpv_osd.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 define DEFAULT_NTF_LED_TYPES 257
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/F35Lightning/hwdef.dat
@@ -165,3 +165,7 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 1
 # no space for bootloader in firmware image:
 include ../include/minimize_fpv_osd.inc
 include ../include/no_bootloader_DFU.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405Pro/hwdef.dat
@@ -153,4 +153,10 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3
 define HAL_FRAME_TYPE_DEFAULT 12
 
 include ../include/minimize_fpv_osd.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 AUTOBUILD_TARGETS Copter
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat
@@ -153,4 +153,8 @@ define DEFAULT_NTF_LED_TYPES 257
 # save some flash space
 include ../include/minimize_fpv_osd.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 AUTOBUILD_TARGETS Copter
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
@@ -166,4 +166,8 @@ define AP_BATTMON_SMBUS_ENABLE 0
 include ../include/minimize_fpv_osd.inc
 include ../include/save_some_flash.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 AUTOBUILD_TARGETS Plane
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
@@ -153,4 +153,8 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 define DEFAULT_NTF_LED_TYPES 256
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4Mini/hwdef.dat
@@ -47,3 +47,6 @@ define HAL_MOUNT_ENABLED 0
 
 undef DEFAULT_NTF_LED_TYPES
 define DEFAULT_NTF_LED_TYPES 257
+
+# KakuteF4Mini has never had a parachute, so we don't need to warn about it
+undef AP_PARACHUTE_UNAVAILABLE_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405US-I2C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405US-I2C/hwdef.dat
@@ -159,3 +159,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 # no space for bootloader:
 include ../include/minimize_fpv_osd.inc
 include ../include/no_bootloader_DFU.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaF405v2/hwdef.dat
@@ -170,3 +170,7 @@ DMA_PRIORITY TIM2* TIM3*
 
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat
@@ -153,3 +153,7 @@ define HAL_MOUNT_ENABLED 0
 
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405Mini/hwdef.dat
@@ -151,5 +151,9 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3
 # Motor order implies Betaflight/X for standard ESCs
 define HAL_FRAME_TYPE_DEFAULT 12
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 include ../include/minimize_fpv_osd.inc
 AUTOBUILD_TARGETS Copter
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat
@@ -152,5 +152,9 @@ define OSD_ENABLED 1
 #font for the osd
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-i2c/hwdef.dat
@@ -153,5 +153,10 @@ define HAL_GYROFFT_ENABLED 0
 
 # bootloader embedding / bootloader flashing not available
 define AP_BOOTLOADER_FLASHING_ENABLED 0
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 include ../include/minimize_fpv_osd.inc
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat
@@ -129,4 +129,8 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1
 
 define HAL_GYROFFT_ENABLED 0
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat
@@ -147,5 +147,10 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
 include ../include/no_bootloader_DFU.inc
+
 undef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
 define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v3/hwdef.dat
@@ -154,7 +154,12 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
 include ../include/no_bootloader_DFU.inc
+
 undef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
 define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
 
 define DEFAULT_NTF_LED_TYPES 257
+
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/speedybeef4v4/hwdef.dat
@@ -162,4 +162,8 @@ define HAL_OS_FATFS_IO 1
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
 
+# defines to transition minimize-fpv-osd boards to parachute-not-compiled-in:
+define HAL_PARACHUTE_ENABLED 0
+define AP_PARACHUTE_UNAVAILABLE_ENABLED 1
+
 define DEFAULT_NTF_LED_TYPES 257
diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -1,15 +1,21 @@
+#include "AP_Parachute_config.h"
+
+#if HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
+
 #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 +28,7 @@ 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 +88,24 @@ 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 +270,10 @@ 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 +285,5 @@ AP_Parachute *parachute()
 }
 
 }
-#endif // HAL_PARACHUTE_ENABLED
+
+#endif  // HAL_PARACHUTE_ENABLED || AP_PARACHUTE_UNAVAILABLE_ENABLED
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/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
diff --git a/libraries/AP_Parachute/AP_Parachute_config.h b/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 0
+#endif