mirror of https://github.com/ArduPilot/ardupilot
Copter: deploy gear during mission RTL descent
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@ -11,9 +11,12 @@ static void landinggear_update(){
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// if we are doing an automatic landing procedure, force the landing gear to deploy.
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// To-Do: should we pause the auto-land procedure to give time for gear to come down?
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if (control_mode == LAND || (control_mode==RTL && rtl_state == RTL_Land) || (control_mode == AUTO && auto_mode == Auto_Land)){
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if (control_mode == LAND ||
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(control_mode==RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
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(control_mode == AUTO && auto_mode == Auto_Land) ||
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(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
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landinggear.force_deploy(true);
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}
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}
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landinggear.update();
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