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Plane: fixed plane landing gear to obey LGR_OPTIONS bits

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we forced landing gear retract/deploy on takeoff and landing when we
should be following the options bits
This commit is contained in:
Andrew Tridgell 2020-04-01 12:42:16 +11:00
parent efb5ad2f1c
commit 156fe0846f
4 changed files with 11 additions and 32 deletions
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4
ArduPlane/Plane.h
View File

@ -522,8 +522,7 @@ private:
#if LANDING_GEAR_ENABLED == ENABLED
// landing gear state
struct {
int8_t last_auto_cmd;
int8_t last_cmd;
AP_Vehicle::FixedWing::FlightStage last_flight_stage;
} gear;
#endif
@ -933,7 +932,6 @@ 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);

6
ArduPlane/quadplane.cpp
View File

@ -1128,6 +1128,9 @@ void QuadPlane::init_qland(void)
last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
landing_detect.lower_limit_start_ms = 0;
landing_detect.land_start_ms = 0;
#if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing();
#endif
}
@ -2777,6 +2780,9 @@ bool QuadPlane::verify_vtol_land(void)
if (poscontrol.state == QPOS_POSITION2 &&
plane.auto_state.wp_distance < 2) {
poscontrol.state = QPOS_LAND_DESCEND;
#if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing();
#endif
last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
gcs().send_text(MAV_SEVERITY_INFO,"Land descend started");
if (plane.control_mode == &plane.mode_auto) {

31
ArduPlane/servos.cpp
View File

@ -546,47 +546,24 @@ void Plane::set_servos_flaps(void)
}
#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 == &mode_auto && hal.util->get_soft_armed() && is_flying()) {
AP_LandingGear::LandingGearCommand cmd = (AP_LandingGear::LandingGearCommand)gear.last_auto_cmd;
if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying() && gear.last_flight_stage != flight_stage) {
switch (flight_stage) {
case AP_Vehicle::FixedWing::FLIGHT_LAND:
cmd = AP_LandingGear::LandingGear_Deploy;
g2.landing_gear.deploy_for_landing();
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;
}
g2.landing_gear.retract_after_takeoff();
break;
default:
break;
}
if (cmd != gear.last_auto_cmd) {
gear.last_auto_cmd = (int8_t)cmd;
change_landing_gear(cmd);
}
}
gear.last_flight_stage = flight_stage;
}
#endif // LANDING_GEAR_ENABLED

2
ArduPlane/system.cpp
View File

@ -112,8 +112,6 @@ void Plane::init_ardupilot()
#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