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:
AP_LandingGear() {
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/* Do not allow copies */
AP_LandingGear(const AP_LandingGear &other) = delete;
AP_LandingGear &operator=(const AP_LandingGear&) = delete;
// Gear command modes
enum LandingGearCommand {
LandingGear_Retract,
LandingGear_Deploy,
};
// Gear command modes
enum LandingGearStartupBehaviour {
LandingGear_Startup_WaitForPilotInput = 0,
LandingGear_Startup_Retract = 1,
LandingGear_Startup_Deploy = 2,
};
/// initialise state of landing gear
void init();
/// 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
AP_Int8 _startup_behaviour; // start-up behaviour (see LandingGearStartupBehaviour)
// internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false
/// retract - retract landing gear
void retract();
/// deploy - deploy the landing gear
void deploy();
};