ardupilot/libraries/AP_LandingGear/AP_LandingGear.h

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/// @file AP_LandingGear.h
/// @brief Landing gear control library
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#define AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT 1250 // default PWM value to move servo to when landing gear is up
#define AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT 1750 // default PWM value to move servo to when landing gear is down
/// @class AP_LandingGear
/// @brief Class managing the control of landing gear
class AP_LandingGear {
public:
// Gear command modes
enum LandingGearCommand {
LandingGear_Retract,
LandingGear_Deploy,
LandingGear_Deploy_And_Keep_Deployed,
};
/// Constructor
AP_LandingGear()
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/// returns true if the landing gear is deployed
bool deployed() const { return _deployed; }
/// set landing gear position to retract, deploy or deploy-and-keep-deployed
void set_position(LandingGearCommand cmd);
static const struct AP_Param::GroupInfo var_info[];
private:
// Parameters
AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted
AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed
// internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false
bool _deploy_lock; // used to force landing gear to remain deployed until another regular Deploy command is received to reduce accidental retraction
/// retract - retract landing gear
void retract();
/// deploy - deploy the landing gear
void deploy();
};