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Copter: Move landing gear code into new file

This commit is contained in:
Robert Lefebvre 2015-01-06 10:51:51 -05:00 committed by Randy Mackay
parent c297aaeeab
commit 20fce5c9ff
2 changed files with 26 additions and 24 deletions
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24
ArduCopter/ArduCopter.pde
View File

@ -1545,29 +1545,5 @@ static void tuning(){
}
}
// Run landing gear controller at 10Hz
static void landinggear_update(){
// If landing gear control is active, run update function.
if (g.ch7_option == AUX_SWITCH_LANDING_GEAR || g.ch8_option == AUX_SWITCH_LANDING_GEAR){
// last status (deployed or retracted) used to check for changes
static bool last_deploy_status;
landinggear.update();
// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status){
if (landinggear.deployed()){
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
} else {
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
}
}
last_deploy_status = landinggear.deployed();
}
}
AP_HAL_MAIN();

26
ArduCopter/LandingGear.pde Normal file
View File

@ -0,0 +1,26 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Run landing gear controller at 10Hz
static void landinggear_update(){
// If landing gear control is active, run update function.
if (g.ch7_option == AUX_SWITCH_LANDING_GEAR || g.ch8_option == AUX_SWITCH_LANDING_GEAR){
// last status (deployed or retracted) used to check for changes
static bool last_deploy_status;
landinggear.update();
// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status){
if (landinggear.deployed()){
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
} else {
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
}
}
last_deploy_status = landinggear.deployed();
}
}