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Copter: landinggear_update formatting change

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no functional change
This commit is contained in:
Randy Mackay 2017-08-04 15:04:18 +09:00
parent 106c1b4fde
commit 5a664bc348
1 changed files with 26 additions and 25 deletions
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51
ArduCopter/landing_gear.cpp
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@ -4,30 +4,31 @@
// Run landing gear controller at 10Hz // Run landing gear controller at 10Hz
void Copter::landinggear_update() void Copter::landinggear_update()
{ {
// If landing gear control is active, run update function. // exit immediately if no landing gear switch is enabled
if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){ if (!check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)) {
return;
// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
static bool last_deploy_status = landinggear.deployed();
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (control_mode == LAND ||
(control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
(control_mode == AUTO && auto_mode == Auto_Land) ||
(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
}
// 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();
} }
// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
static bool last_deploy_status = landinggear.deployed();
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (control_mode == LAND ||
(control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
(control_mode == AUTO && auto_mode == Auto_Land) ||
(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
}
// 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();
} }