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AP_LandingGear: add startup position selection parameter

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This commit is contained in:
Randy Mackay 2017-08-04 15:28:33 +09:00
parent c3fd354452
commit 42cab6b533
2 changed files with 35 additions and 0 deletions
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24
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -26,9 +26,33 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("SERVO_DEPLOY", 1, 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),
// @Param: STARTUP
// @DisplayName: Landing Gear Startup position
// @Description: Landing Gear Startup behaviour control
// @Values: 0:WaitForPilotInput, 1:Retract, 2:Deploy
// @User: Standard
AP_GROUPINFO("STARTUP", 2, AP_LandingGear, _startup_behaviour, (uint8_t)AP_LandingGear::LandingGear_Startup_WaitForPilotInput),
AP_GROUPEND AP_GROUPEND
}; };
/// initialise state of landing gear
void AP_LandingGear::init()
{
switch ((enum LandingGearStartupBehaviour)_startup_behaviour.get()) {
default:
case LandingGear_Startup_WaitForPilotInput:
// do nothing
break;
case LandingGear_Startup_Retract:
retract();
break;
case LandingGear_Startup_Deploy:
deploy();
break;
}
}
/// set landing gear position to retract, deploy or deploy-and-keep-deployed /// set landing gear position to retract, deploy or deploy-and-keep-deployed
void AP_LandingGear::set_position(LandingGearCommand cmd) void AP_LandingGear::set_position(LandingGearCommand cmd)
{ {

11
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -21,6 +21,13 @@ public:
LandingGear_Deploy_And_Keep_Deployed, LandingGear_Deploy_And_Keep_Deployed,
}; };
// Gear command modes
enum LandingGearStartupBehaviour {
LandingGear_Startup_WaitForPilotInput = 0,
LandingGear_Startup_Retract = 1,
LandingGear_Startup_Deploy = 2,
};
/// Constructor /// Constructor
AP_LandingGear() AP_LandingGear()
{ {
@ -28,6 +35,9 @@ public:
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
/// initialise state of landing gear
void init();
/// returns true if the landing gear is deployed /// returns true if the landing gear is deployed
bool deployed() const { return _deployed; } bool deployed() const { return _deployed; }
@ -41,6 +51,7 @@ private:
// Parameters // Parameters
AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted 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 AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed
AP_Int8 _startup_behaviour; // start-up behaviour (see LandingGearStartupBehaviour)
// internal variables // internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false bool _deployed; // true if the landing gear has been deployed, initialized false