AP_LandingGear: Create LandingGear Library.

libraries/AP_LandingGear/AP_LandingGear.cpp

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include <AP_LandingGear.h>
+#include <AP_Relay.h>
+#include <AP_Math.h>
+#include <RC_Channel.h>
+#include <AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
+
+const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
+
+    // @Param: CTL_TYPE
+    // @DisplayName: Landing Gear Control Method(relay or servo)
+    // @Description: Type of signal used to control the landing gear system
+    // @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
+    // @User: Standard
+    AP_GROUPINFO("CTL_TYPE", 0, AP_LandingGear, _control_type, AP_LANDINGGEAR_TRIGGER_TYPE_SERVO),
+
+    // @Param: SERVO_RTRACT
+    // @DisplayName: Landing Gear Servo Retracted PWM Value
+    // @Description: Servo PWM value when landing gear is retracted
+    // @Range: 1000 2000
+    // @Units: pwm
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("SERVO_RTRACT", 1, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT),
+
+    // @Param: SERVO_DEPLOY
+    // @DisplayName: Landing Gear Servo Deployed PWM Value
+    // @Description: Servo PWM value when landing gear is deployed
+    // @Range: 1000 2000
+    // @Units: pwm
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("SERVO_DEPLOY", 2, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
+
+    AP_GROUPEND
+};
+
+/// enable - enable or disable land gear retraction
+void AP_LandingGear::enable(bool on_off)
+{
+    _retract_enabled = on_off;
+}
+
+/// deploy - deploy landing gear
+void AP_LandingGear::deploy()
+{   
+    if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
+        // move servo to deployed position
+        RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm);
+    }else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
+        // set relay off
+        _relay.off(_control_type);
+    }   
+    // set deployed flag
+    _deployed = true;    
+}
+
+/// retract - retract landing gear
+void AP_LandingGear::retract()
+{    
+    if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
+        // move servo to retracted position
+        RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm);
+    }else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
+        // set relay on
+        _relay.on(_control_type);
+    }
+    // reset deployed flag
+    _deployed = false;   
+}
+
+/// update - should be called at 10hz
+void AP_LandingGear::update()
+{   
+    if (!_retract_enabled) {
+        // force deployment if retract is not enabled
+        deploy();
+        // retract is disabled until switch is placed into deploy position to prevent accidental retraction on bootup if switch was left in retract position
+        enable(_command_mode == COMMAND_MODE_DEPLOY);
+        return;
+    }
+
+    if (_command_mode == COMMAND_MODE_DEPLOY){
+        deploy();
+    }
+    
+    if (_command_mode == COMMAND_MODE_RETRACT){
+        retract();
+    }    
+}

libraries/AP_LandingGear/AP_LandingGear.h

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+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+/// @file	AP_LandingGear.h
+/// @brief	Landing gear control library
+
+#ifndef AP_LANDINGGEAR_H
+#define AP_LANDINGGEAR_H
+
+#include <AP_Param.h>
+#include <AP_Common.h>
+#include <AP_Relay.h>
+
+#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_0         0
+#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_1         1
+#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_2         2
+#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3         3
+#define AP_LANDINGGEAR_TRIGGER_TYPE_SERVO           10
+
+#define AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT    1250    // default PWM value to move servo to when landing gear is up
+#define AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT     1750    // default PWM value to move servo to when landing gear is down
+
+#define COMMAND_MODE_DEPLOY                         0       // command gear to deploy
+#define COMMAND_MODE_AUTO                           1       // command gear to actuate automatically
+#define COMMAND_MODE_RETRACT                        2       // command gear to retract
+
+/// @class	AP_LandingGear
+/// @brief	Class managing the control of landing gear
+class AP_LandingGear {
+
+public:
+
+    /// Constructor
+    AP_LandingGear(AP_Relay& relay) :
+        _relay(relay),
+        _deployed(false),
+        _retract_enabled(false)
+    {
+        // setup parameter defaults
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    /// enabled - returns true if landing gear retract is enabled
+    bool enabled() const { return _retract_enabled; }
+    
+    /// deployed - returns true if the landing gear is deployed
+    bool deployed() const { return _deployed; }
+
+    /// update - should be called at 10hz
+    void update();
+    
+    void set_cmd_mode(int8_t cmd) { _command_mode = cmd; }
+
+    static const struct AP_Param::GroupInfo        var_info[];
+
+private:
+
+    bool     _retract_enabled;          // true if landing gear retraction is enabled
+
+    // Parameters
+    AP_Int8     _control_type;          // 0,1,2,3:Relay 10:Servo
+    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
+
+    // internal variables
+    AP_Relay    &_relay;                // pointer to relay object from the base class Relay.
+    bool        _deployed;              // true if the landing gear has been deployed, initialized false
+    int8_t      _command_mode;          // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
+    
+    /// enable - enable landing gear retraction
+    void enable(bool on_off);
+    
+    /// retract - retract landing gear
+    void retract();
+    
+    /// deploy - deploy the landing gear
+    void deploy();
+};
+
+#endif /* AP_LANDINGGEAR_H */