From 4177852d89928836c6f3cb38db0f284b7ca0e06f Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Tue, 6 Jan 2015 10:25:43 -0500 Subject: [PATCH] AP_LandingGear: Remove relay control from library. --- libraries/AP_LandingGear/AP_LandingGear.cpp | 33 ++++++--------------- libraries/AP_LandingGear/AP_LandingGear.h | 12 +------- 2 files changed, 10 insertions(+), 35 deletions(-) diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp index fe48803060..0f536ecf68 100644 --- a/libraries/AP_LandingGear/AP_LandingGear.cpp +++ b/libraries/AP_LandingGear/AP_LandingGear.cpp @@ -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; } diff --git a/libraries/AP_LandingGear/AP_LandingGear.h b/libraries/AP_LandingGear/AP_LandingGear.h index bbd8b3029c..51167ca02d 100644 --- a/libraries/AP_LandingGear/AP_LandingGear.h +++ b/libraries/AP_LandingGear/AP_LandingGear.h @@ -8,13 +8,6 @@ #include #include -#include - -#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