Plane: added landing gear support

ArduPlane/ArduPlane.cpp

@@ -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];

ArduPlane/Parameters.cpp

@@ -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
 };
 

ArduPlane/Parameters.h

@@ -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[];

ArduPlane/Plane.h

@@ -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);

ArduPlane/RC_Channel.cpp

@@ -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;

ArduPlane/config.h

@@ -381,3 +381,7 @@
  #define SOARING_ENABLED ENABLED
 #endif
 #endif
+
+#ifndef LANDING_GEAR_ENABLED
+ #define LANDING_GEAR_ENABLED !HAL_MINIMIZE_FEATURES
+#endif

ArduPlane/make.inc

@@ -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

ArduPlane/parachute.cpp

@@ -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

ArduPlane/servos.cpp

@@ -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() ||

ArduPlane/system.cpp

@@ -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);

ArduPlane/wscript

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