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RC_Channel: moved LANDING_GEAR to common library

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This commit is contained in:
Andrew Tridgell 2018-11-09 11:02:54 +11:00
parent fa1fc004bf
commit 7fad72dacf
1 changed files with 21 additions and 0 deletions
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21
libraries/RC_Channel/RC_Channel.cpp
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@ -32,6 +32,7 @@ extern const AP_HAL::HAL& hal;
#include <AC_Avoidance/AC_Avoid.h> #include <AC_Avoidance/AC_Avoid.h>
#include <AC_Sprayer/AC_Sprayer.h> #include <AC_Sprayer/AC_Sprayer.h>
#include <AP_Gripper/AP_Gripper.h> #include <AP_Gripper/AP_Gripper.h>
#include <AP_LandingGear/AP_LandingGear.h>
const AP_Param::GroupInfo RC_Channel::var_info[] = { const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: MIN // @Param: MIN
@ -438,6 +439,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case DO_NOTHING: case DO_NOTHING:
case CLEAR_WP: case CLEAR_WP:
case COMPASS_LEARN: case COMPASS_LEARN:
case LANDING_GEAR:
break; break;
case GRIPPER: case GRIPPER:
case SPRAYER: case SPRAYER:
@ -650,6 +652,25 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
} }
break; break;
case LANDING_GEAR: {
AP_LandingGear *lg = AP_LandingGear::instance();
if (lg == nullptr) {
break;
}
switch (ch_flag) {
case LOW:
lg->set_position(AP_LandingGear::LandingGear_Deploy);
break;
case MIDDLE:
// nothing
break;
case HIGH:
lg->set_position(AP_LandingGear::LandingGear_Retract);
break;
}
break;
}
default: default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option); gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
break; break;