Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-08 08:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: support height based landing gear

Browse Source
This commit is contained in:
Andrew Tridgell 2018-11-09 15:46:30 +11:00
parent 432d786f82
commit 144e1945c6
1 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/landing_gear.cpp
View File

@ -28,4 +28,14 @@ void Copter::landinggear_update()
} }
last_deploy_status = landinggear.deployed(); last_deploy_status = landinggear.deployed();
// support height based triggering
float height;
if (rangefinder_alt_ok()) {
height = rangefinder_state.alt_cm_filt.get() * 0.01;
} else {
height = current_loc.alt * 0.01;
}
landinggear.update(height);
} }