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Copter: support height based landing gear

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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
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10
ArduCopter/landing_gear.cpp
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@ -28,4 +28,14 @@ void Copter::landinggear_update()
}
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);
}