From 6297306492a9c915e1c4ed50b900e0ac6ddab9bf Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 21 Feb 2020 12:08:11 +0900
Subject: [PATCH] AP_LandingGear: add OPTIONS param to auto deploy and retract

---
 libraries/AP_LandingGear/AP_LandingGear.cpp | 24 +++++++++++++++++++++
 libraries/AP_LandingGear/AP_LandingGear.h   | 11 ++++++++++
 2 files changed, 35 insertions(+)

diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp
index 5fa9b42a4b..62c787989e 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.cpp
+++ b/libraries/AP_LandingGear/AP_LandingGear.cpp
@@ -67,6 +67,14 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0),
 
+    // @Param: OPTIONS
+    // @DisplayName: Landing gear auto retract/deploy options
+    // @Description: Options to retract or deploy landing gear in Auto or Guided mode
+    // @Values: 1:Retract after Takeoff, 2:Deploy during Land, 3:Retract after Takeoff AND deploy during Land
+    // @Bitmask: 0:Retract after Takeoff,1:Deploy during Land
+    // @User: Standard
+    AP_GROUPINFO("OPTIONS", 9, AP_LandingGear, _options, 3),
+
     AP_GROUPEND
 };
 
@@ -272,3 +280,19 @@ bool AP_LandingGear::check_before_land(void)
     // If the landing gear was not used - return true, otherwise - check for deployed
     return (get_state() == LG_DEPLOYED);
 }
+
+// retract after takeoff if configured via the OPTIONS parameter
+void AP_LandingGear::retract_after_takeoff()
+{
+    if (_options.get() & (uint16_t)Option::RETRACT_AFTER_TAKEOFF) {
+        retract();
+    }
+}
+
+// deploy for landing if configured via the OPTIONS parameter
+void AP_LandingGear::deploy_for_landing()
+{
+    if (_options.get() & (uint16_t)Option::DEPLOY_DURING_LANDING) {
+        deploy();
+    }
+}
diff --git a/libraries/AP_LandingGear/AP_LandingGear.h b/libraries/AP_LandingGear/AP_LandingGear.h
index dea4a6da68..15c3274b1e 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.h
+++ b/libraries/AP_LandingGear/AP_LandingGear.h
@@ -85,6 +85,10 @@ public:
     
     bool check_before_land(void);
 
+    // retract after takeoff or deploy for landing depending on the OPTIONS parameter
+    void retract_after_takeoff();
+    void deploy_for_landing();
+
 private:
     // Parameters
     AP_Int8     _startup_behaviour;     // start-up behaviour (see LandingGearStartupBehaviour)
@@ -95,6 +99,13 @@ private:
     AP_Int8     _pin_weight_on_wheels_polarity;
     AP_Int16    _deploy_alt;
     AP_Int16    _retract_alt;
+    AP_Int16    _options;
+
+    // bitmask of options
+    enum class Option : uint16_t {
+        RETRACT_AFTER_TAKEOFF = (1U<<0),
+        DEPLOY_DURING_LANDING = (1U<<1)
+    };
 
     // internal variables
     bool        _deployed;              // true if the landing gear has been deployed, initialized false