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AP_LandingGear: use SERVO_MIN/MAX/REVERSED for landing gear

This commit is contained in:
Andrew Tridgell 2018-11-09 17:36:12 +11:00
parent 144e1945c6
commit ac920633af
2 changed files with 3 additions and 24 deletions
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22
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -10,23 +10,7 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Param: SERVO_RTRACT
// @DisplayName: Landing Gear Servo Retracted PWM Value
// @Description: Servo PWM value in microseconds when landing gear is retracted
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_RTRACT", 0, 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 in microseconds when landing gear is deployed
// @Range: 1000 2000
// @Units: PWM
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
// 0 and 1 used by previous retract and deploy pwm, now replaced with SERVOn_MIN/MAX/REVERSED
// @Param: STARTUP
// @DisplayName: Landing Gear Startup position
@ -136,7 +120,7 @@ void AP_LandingGear::set_position(LandingGearCommand cmd)
void AP_LandingGear::deploy()
{
// set servo PWM to deployed position
SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_deploy_pwm);
SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
// set deployed flag
_deployed = true;
@ -149,7 +133,7 @@ void AP_LandingGear::deploy()
void AP_LandingGear::retract()
{
// set servo PWM to retracted position
SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_retract_pwm);
SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
// reset deployed flag
_deployed = false;

5
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -5,9 +5,6 @@
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#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
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define DEFAULT_PIN_WOW 8
#define DEFAULT_PIN_WOW_POL 1
@ -88,8 +85,6 @@ public:
private:
// Parameters
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
AP_Int8 _startup_behaviour; // start-up behaviour (see LandingGearStartupBehaviour)
AP_Int8 _pin_deployed;