ardupilot/ArduCopter/landing_gear.cpp

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#include "Copter.h"
// Run landing gear controller at 10Hz
void Copter::landinggear_update()
{
// exit immediately if no landing gear output has been enabled
if (!SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
return;
}
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// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
static bool last_deploy_status = landinggear.deployed();
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// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (flightmode->landing_gear_should_be_deployed()) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
}
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// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status) {
if (landinggear.deployed()) {
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
} else {
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
}
}
last_deploy_status = landinggear.deployed();
// support height based triggering using rangefinder or altitude above home
float height = current_loc.alt * 0.01;
// use rangefinder if available
switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::RangeFinder_NotConnected:
case RangeFinder::RangeFinder_NoData:
// use altitude above home for non-functioning rangefinder
break;
case RangeFinder::RangeFinder_OutOfRangeLow:
// altitude is close to zero (gear should deploy)
height = 0.0f;
break;
case RangeFinder::RangeFinder_OutOfRangeHigh:
case RangeFinder::RangeFinder_Good:
// use last good reading
height = rangefinder_state.alt_cm_filt.get() * 0.01;
break;
}
landinggear.update(height);
}