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AP_Landing: emit DEPLOY gcs text only if not already deployed

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Peter Barker 2019-12-01 10:37:28 +11:00 committed by Randy Mackay
parent 71017cb288
commit 2dacafe0f3
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -122,14 +122,15 @@ void AP_LandingGear::deploy()
// set servo PWM to deployed position // set servo PWM to deployed position
SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::Limit::MAX); SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::Limit::MAX);
// send message only if output has been configured
if (!_deployed &&
SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: DEPLOY");
}
// set deployed flag // set deployed flag
_deployed = true; _deployed = true;
_have_changed = true; _have_changed = true;
// send message only if output has been configured
if (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: DEPLOY");
}
} }
/// retract - retract landing gear /// retract - retract landing gear