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Copter: landing gear position set less often 

This change means no pwm output is sent to the landing gear servos until the pilot has moved the switch
This commit is contained in:
Randy Mackay 2017-06-10 13:11:00 +09:00
parent c9cc0de83d
commit a5ea9420c0
3 changed files with 8 additions and 14 deletions
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2
ArduCopter/crash_check.cpp
View File

@ -146,7 +146,7 @@ void Copter::parachute_release()
parachute.release();
// deploy landing gear
landinggear.set_cmd_mode(LandingGear_Deploy);
landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
}
// parachute_manual_release - trigger the release of the parachute, after performing some checks for pilot error

12
ArduCopter/landing_gear.cpp
View File

@ -2,13 +2,13 @@
// Run landing gear controller at 10Hz
void Copter::landinggear_update(){
void Copter::landinggear_update()
{
// If landing gear control is active, run update function.
if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
// last status (deployed or retracted) used to check for changes
static bool last_deploy_status;
// 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?
@ -16,11 +16,9 @@ void Copter::landinggear_update(){
(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.force_deploy(true);
landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
}
landinggear.update();
// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status){
if (landinggear.deployed()) {

8
ArduCopter/switches.cpp
View File

@ -191,7 +191,6 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_MISSION_RESET:
case AUXSW_ATTCON_FEEDFWD:
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_LANDING_GEAR:
case AUXSW_MOTOR_ESTOP:
case AUXSW_MOTOR_INTERLOCK:
case AUXSW_AVOID_ADSB:
@ -492,13 +491,10 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUXSW_LANDING_GEAR:
switch (ch_flag) {
case AUX_SWITCH_LOW:
landinggear.set_cmd_mode(LandingGear_Deploy);
break;
case AUX_SWITCH_MIDDLE:
landinggear.set_cmd_mode(LandingGear_Auto);
landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
break;
case AUX_SWITCH_HIGH:
landinggear.set_cmd_mode(LandingGear_Retract);
landinggear.set_position(AP_LandingGear::LandingGear_Retract);
break;
}
break;