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AP_LandingGear: minor format fix

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This commit is contained in:
Randy Mackay 2019-05-11 08:48:15 +09:00
parent fc710d8a81
commit 5c99f02c15
1 changed files with 12 additions and 12 deletions
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24
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -18,7 +18,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Values: 0:WaitForPilotInput, 1:Retract, 2:Deploy // @Values: 0:WaitForPilotInput, 1:Retract, 2:Deploy
// @User: Standard // @User: Standard
AP_GROUPINFO("STARTUP", 2, AP_LandingGear, _startup_behaviour, (uint8_t)AP_LandingGear::LandingGear_Startup_WaitForPilotInput), AP_GROUPINFO("STARTUP", 2, AP_LandingGear, _startup_behaviour, (uint8_t)AP_LandingGear::LandingGear_Startup_WaitForPilotInput),
// @Param: DEPLOY_PIN // @Param: DEPLOY_PIN
// @DisplayName: Chassis deployment feedback pin // @DisplayName: Chassis deployment feedback pin
// @Description: Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. // @Description: Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.
@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Values: 0:Low,1:High // @Values: 0:Low,1:High
// @User: Standard // @User: Standard
AP_GROUPINFO("DEPLOY_POL", 4, AP_LandingGear, _pin_deployed_polarity, 0), AP_GROUPINFO("DEPLOY_POL", 4, AP_LandingGear, _pin_deployed_polarity, 0),
// @Param: WOW_PIN // @Param: WOW_PIN
// @DisplayName: Weight on wheels feedback pin // @DisplayName: Weight on wheels feedback pin
// @Description: Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. // @Description: Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.
@ -66,7 +66,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0), AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -81,14 +81,14 @@ void AP_LandingGear::init()
hal.gpio->write(_pin_deployed, !_pin_deployed_polarity); hal.gpio->write(_pin_deployed, !_pin_deployed_polarity);
log_wow_state(wow_state_current); log_wow_state(wow_state_current);
} }
if (_pin_weight_on_wheels != -1) { if (_pin_weight_on_wheels != -1) {
hal.gpio->pinMode(_pin_weight_on_wheels, HAL_GPIO_INPUT); hal.gpio->pinMode(_pin_weight_on_wheels, HAL_GPIO_INPUT);
// set pullup/pulldown to default to flying state // set pullup/pulldown to default to flying state
hal.gpio->write(_pin_weight_on_wheels, !_pin_weight_on_wheels_polarity); hal.gpio->write(_pin_weight_on_wheels, !_pin_weight_on_wheels_polarity);
log_wow_state(wow_state_current); log_wow_state(wow_state_current);
} }
switch ((enum LandingGearStartupBehaviour)_startup_behaviour.get()) { switch ((enum LandingGearStartupBehaviour)_startup_behaviour.get()) {
default: default:
case LandingGear_Startup_WaitForPilotInput: case LandingGear_Startup_WaitForPilotInput:
@ -186,19 +186,19 @@ void AP_LandingGear::update(float height_above_ground_m)
wow_state_current = LG_WOW_UNKNOWN; wow_state_current = LG_WOW_UNKNOWN;
} else { } else {
LG_WOW_State wow_state_new = hal.gpio->read(_pin_weight_on_wheels) == _pin_weight_on_wheels_polarity ? LG_WOW : LG_NO_WOW; LG_WOW_State wow_state_new = hal.gpio->read(_pin_weight_on_wheels) == _pin_weight_on_wheels_polarity ? LG_WOW : LG_NO_WOW;
if (wow_state_new != wow_state_current) { if (wow_state_new != wow_state_current) {
// we changed states, lets note the time. // we changed states, lets note the time.
last_wow_event_ms = AP_HAL::millis(); last_wow_event_ms = AP_HAL::millis();
log_wow_state(wow_state_new); log_wow_state(wow_state_new);
} }
wow_state_current = wow_state_new; wow_state_current = wow_state_new;
} }
if (_pin_deployed == -1) { if (_pin_deployed == -1) {
last_gear_event_ms = 0; last_gear_event_ms = 0;
// If there was no pilot input and state is still unknown - leave it as it is // If there was no pilot input and state is still unknown - leave it as it is
if (gear_state_current != LG_UNKNOWN) { if (gear_state_current != LG_UNKNOWN) {
gear_state_current = (_deployed == true ? LG_DEPLOYED : LG_RETRACTED); gear_state_current = (_deployed == true ? LG_DEPLOYED : LG_RETRACTED);
@ -211,14 +211,14 @@ void AP_LandingGear::update(float height_above_ground_m)
} else { } else {
gear_state_new = (deployed() == false ? LG_RETRACTED : LG_RETRACTING); gear_state_new = (deployed() == false ? LG_RETRACTED : LG_RETRACTING);
} }
if (gear_state_new != gear_state_current) { if (gear_state_new != gear_state_current) {
// we changed states, lets note the time. // we changed states, lets note the time.
last_gear_event_ms = AP_HAL::millis(); last_gear_event_ms = AP_HAL::millis();
log_wow_state(wow_state_current); log_wow_state(wow_state_current);
} }
gear_state_current = gear_state_new; gear_state_current = gear_state_new;
} }
@ -261,7 +261,7 @@ bool AP_LandingGear::check_before_land(void)
if (get_state() == LG_UNKNOWN) { if (get_state() == LG_UNKNOWN) {
return true; return true;
} }
// If the landing gear was not used - return true, otherwise - check for deployed // If the landing gear was not used - return true, otherwise - check for deployed
return (get_state() == LG_DEPLOYED); return (get_state() == LG_DEPLOYED);
} }