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AP_LANDING_GEAR: Remove deploy lock 

Since the RC switches only respond to changes, there is no longer a need
for this lock state. The gear can be retracted or deployed by RC switch,
flight mode, or mavlink command freely without convoluted unlocking
methods.  Also removed use of this in the associated Copter code.
This commit is contained in:
Matt 2018-08-02 21:25:58 -04:00 committed by Randy Mackay
parent fd332287b2
commit 15823d9e97
3 changed files with 2 additions and 11 deletions
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2
ArduCopter/landing_gear.cpp
View File

@ -15,7 +15,7 @@ void Copter::landinggear_update()
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (flightmode->landing_gear_should_be_deployed()) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
}
// send event message to datalog if status has changed

9
libraries/AP_LandingGear/AP_LandingGear.cpp
View File

@ -58,17 +58,10 @@ void AP_LandingGear::set_position(LandingGearCommand cmd)
{
switch (cmd) {
case LandingGear_Retract:
if (!_deploy_lock) {
retract();
}
retract();
break;
case LandingGear_Deploy:
deploy();
_deploy_lock = false;
break;
case LandingGear_Deploy_And_Keep_Deployed:
deploy();
_deploy_lock = true;
break;
}
}

2
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -25,7 +25,6 @@ public:
enum LandingGearCommand {
LandingGear_Retract,
LandingGear_Deploy,
LandingGear_Deploy_And_Keep_Deployed,
};
// Gear command modes
@ -54,7 +53,6 @@ private:
// internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false
bool _deploy_lock; // used to force landing gear to remain deployed until another regular Deploy command is received to reduce accidental retraction
/// retract - retract landing gear
void retract();