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Plane: added landing gear support

This commit is contained in:
Eugene Shamaev 2018-06-10 09:33:06 +03:00 committed by Andrew Tridgell
parent fa6afe145f
commit 01178a75e9
11 changed files with 113 additions and 2 deletions
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3
ArduPlane/ArduPlane.cpp
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@ -101,6 +101,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
#if OSD_ENABLED == ENABLED
SCHED_TASK(publish_osd_info, 1, 10),
#endif
#if LANDING_GEAR_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_LandingGear, &plane.g2.landing_gear, update, 10, 50),
#endif
};
constexpr int8_t Plane::_failsafe_priorities[5];

6
ArduPlane/Parameters.cpp
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@ -1189,6 +1189,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: User
AP_GROUPINFO("TKOFF_ACCEL_CNT", 15, ParametersG2, takeoff_throttle_accel_count, 1),
#if LANDING_GEAR_ENABLED == ENABLED
// @Group: LGR_
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
AP_SUBGROUPINFO(landing_gear, "LGR_", 16, ParametersG2, AP_LandingGear),
#endif
AP_GROUPEND
};

4
ArduPlane/Parameters.h
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@ -551,6 +551,10 @@ public:
#endif // ENABLE_SCRIPTING
AP_Int8 takeoff_throttle_accel_count;
#if LANDING_GEAR_ENABLED == ENABLED
AP_LandingGear landing_gear;
#endif
};
extern const AP_Param::Info var_info[];

13
ArduPlane/Plane.h
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@ -96,6 +96,7 @@
#include <AP_ICEngine/AP_ICEngine.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AP_Landing/AP_Landing.h>
#include <AP_LandingGear/AP_LandingGear.h> // Landing Gear library
#include "GCS_Mavlink.h"
#include "GCS_Plane.h"
@ -536,8 +537,16 @@ private:
// throttle commanded from external controller in percent
float forced_throttle;
uint32_t last_forced_throttle_ms;
} guided_state;
} guided_state;
#if LANDING_GEAR_ENABLED == ENABLED
// landing gear state
struct {
int8_t last_auto_cmd;
int8_t last_cmd;
} gear;
#endif
struct {
// on hard landings, only check once after directly a landing so you
// don't trigger a crash when picking up the aircraft
@ -963,6 +972,8 @@ private:
void set_servos_controlled(void);
void set_servos_old_elevons(void);
void set_servos_flaps(void);
void change_landing_gear(AP_LandingGear::LandingGearCommand cmd);
void set_landing_gear(void);
void dspoiler_update(void);
void servo_output_mixers(void);
void servos_output(void);

16
ArduPlane/RC_Channel.cpp
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@ -34,6 +34,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
// the following functions do not need to be initialised:
case ARMDISARM:
case INVERTED:
case LANDING_GEAR:
break;
default:
RC_Channel::init_aux_function(ch_option, ch_flag);
@ -62,6 +63,21 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_swi
case INVERTED:
plane.inverted_flight = (ch_flag == HIGH);
break;
case LANDING_GEAR:
switch (ch_flag) {
case LOW:
plane.g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
break;
case MIDDLE:
// nothing
break;
case HIGH:
plane.g2.landing_gear.set_position(AP_LandingGear::LandingGear_Retract);
break;
}
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
break;

4
ArduPlane/config.h
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@ -381,3 +381,7 @@
#define SOARING_ENABLED ENABLED
#endif
#endif
#ifndef LANDING_GEAR_ENABLED
#define LANDING_GEAR_ENABLED !HAL_MINIMIZE_FEATURES
#endif

1
ArduPlane/make.inc
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@ -53,6 +53,7 @@ LIBRARIES += AC_Fence
LIBRARIES += AP_Tuning
LIBRARIES += AP_Stats
LIBRARIES += AP_Landing
LIBRARIES += AP_LandingGear
LIBRARIES += AP_Beacon
LIBRARIES += PID
LIBRARIES += AP_Soaring

11
ArduPlane/parachute.cpp
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@ -30,6 +30,11 @@ void Plane::parachute_release()
// release parachute
parachute.release();
#if LANDING_GEAR_ENABLED == ENABLED
// deploy landing gear
g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
#endif
}
/*
@ -54,7 +59,11 @@ bool Plane::parachute_manual_release()
// if we get this far release parachute
parachute_release();
return true;
#if LANDING_GEAR_ENABLED == ENABLED
// deploy landing gear
g2.landing_gear.set_position(AP_LandingGear::LandingGear_Deploy);
#endif
return true;
}
#endif

49
ArduPlane/servos.cpp
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@ -467,6 +467,50 @@ void Plane::set_servos_flaps(void)
flaperon_update(auto_flap_percent);
}
#if LANDING_GEAR_ENABLED == ENABLED
/*
change and report landing gear
*/
void Plane::change_landing_gear(AP_LandingGear::LandingGearCommand cmd)
{
if (cmd != (AP_LandingGear::LandingGearCommand)gear.last_cmd) {
if (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
g2.landing_gear.set_position(cmd);
gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: %s", cmd==AP_LandingGear::LandingGear_Retract?"RETRACT":"DEPLOY");
}
gear.last_cmd = (int8_t)cmd;
}
}
/*
setup landing gear state
*/
void Plane::set_landing_gear(void)
{
if (control_mode == AUTO && hal.util->get_soft_armed() && is_flying()) {
AP_LandingGear::LandingGearCommand cmd = (AP_LandingGear::LandingGearCommand)gear.last_auto_cmd;
switch (flight_stage) {
case AP_Vehicle::FixedWing::FLIGHT_LAND:
cmd = AP_LandingGear::LandingGear_Deploy;
break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL:
cmd = AP_LandingGear::LandingGear_Retract;
break;
case AP_Vehicle::FixedWing::FLIGHT_VTOL:
if (quadplane.is_vtol_land(mission.get_current_nav_cmd().id)) {
cmd = AP_LandingGear::LandingGear_Deploy;
}
break;
default:
break;
}
if (cmd != gear.last_auto_cmd) {
gear.last_auto_cmd = (int8_t)cmd;
change_landing_gear(cmd);
}
}
}
#endif // LANDING_GEAR_ENABLED
/*
apply vtail and elevon mixers
@ -594,6 +638,11 @@ void Plane::set_servos(void)
// setup flap outputs
set_servos_flaps();
#if LANDING_GEAR_ENABLED == ENABLED
// setup landing gear output
set_landing_gear();
#endif
if (auto_throttle_mode ||
quadplane.in_assisted_flight() ||

7
ArduPlane/system.cpp
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@ -170,6 +170,13 @@ void Plane::init_ardupilot()
camera_mount.init(serial_manager);
#endif
#if LANDING_GEAR_ENABLED == ENABLED
// initialise landing gear position
g2.landing_gear.init();
gear.last_auto_cmd = -1;
gear.last_cmd = -1;
#endif
#if FENCE_TRIGGERED_PIN > 0
hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
hal.gpio->write(FENCE_TRIGGERED_PIN, 0);

1
ArduPlane/wscript
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@ -27,6 +27,7 @@ def build(bld):
'AC_Fence',
'AP_Stats',
'AP_Landing',
'AP_LandingGear',
'AP_Beacon',
'PID',
'AP_Soaring',