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AP_LandingGear: Remove relay control from library.

This commit is contained in:
Robert Lefebvre 2015-01-06 10:25:43 -05:00 committed by Randy Mackay
parent 4935a42054
commit 4177852d89
2 changed files with 10 additions and 35 deletions
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33
libraries/AP_LandingGear/AP_LandingGear.cpp
View File

@ -10,13 +10,6 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
// @Param: CTL_TYPE
// @DisplayName: Landing Gear Control Method(relay or servo)
// @Description: Type of signal used to control the landing gear system
// @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
// @User: Standard
AP_GROUPINFO("CTL_TYPE", 0, AP_LandingGear, _control_type, AP_LANDINGGEAR_TRIGGER_TYPE_SERVO),
// @Param: SERVO_RTRACT
// @DisplayName: Landing Gear Servo Retracted PWM Value
// @Description: Servo PWM value when landing gear is retracted
@ -24,7 +17,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
// @Units: pwm
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_RTRACT", 1, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT),
AP_GROUPINFO("SERVO_RTRACT", 0, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT),
// @Param: SERVO_DEPLOY
// @DisplayName: Landing Gear Servo Deployed PWM Value
@ -33,7 +26,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
// @Units: pwm
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_DEPLOY", 2, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
AP_GROUPEND
};
@ -46,14 +39,10 @@ void AP_LandingGear::enable(bool on_off)
/// deploy - deploy landing gear
void AP_LandingGear::deploy()
{
if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
// move servo to deployed position
RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm);
}else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
// set relay off
_relay.off(_control_type);
}
{
// set servo PWM to deployed position
RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm);
// set deployed flag
_deployed = true;
}
@ -61,13 +50,9 @@ void AP_LandingGear::deploy()
/// retract - retract landing gear
void AP_LandingGear::retract()
{
if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
// move servo to retracted position
RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm);
}else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
// set relay on
_relay.on(_control_type);
}
// set servo PWM to retracted position
RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm);
// reset deployed flag
_deployed = false;
}

12
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -8,13 +8,6 @@
#include <AP_Param.h>
#include <AP_Common.h>
#include <AP_Relay.h>
#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_0 0
#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_1 1
#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_2 2
#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3 3
#define AP_LANDINGGEAR_TRIGGER_TYPE_SERVO 10
#define AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT 1250 // default PWM value to move servo to when landing gear is up
#define AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT 1750 // default PWM value to move servo to when landing gear is down
@ -30,8 +23,7 @@ class AP_LandingGear {
public:
/// Constructor
AP_LandingGear(AP_Relay& relay) :
_relay(relay),
AP_LandingGear() :
_deployed(false),
_retract_enabled(false)
{
@ -57,12 +49,10 @@ private:
bool _retract_enabled; // true if landing gear retraction is enabled
// Parameters
AP_Int8 _control_type; // 0,1,2,3:Relay 10:Servo
AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted
AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed
// internal variables
AP_Relay &_relay; // pointer to relay object from the base class Relay.
bool _deployed; // true if the landing gear has been deployed, initialized false
int8_t _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract