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AP_LandingGear: Add force_deploy method.

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This commit is contained in:
Robert Lefebvre 2015-01-06 14:52:16 -05:00 committed by Randy Mackay
parent fd61c3179a
commit c297aaeeab
2 changed files with 13 additions and 2 deletions
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12
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -59,7 +59,15 @@ void AP_LandingGear::retract()
/// update - should be called at 10hz /// update - should be called at 10hz
void AP_LandingGear::update() void AP_LandingGear::update()
{ {
// if there is a force deploy active, disable retraction, then reset force deploy to consume it
// gear will be deployed automatically because _retract_enabled is false.
// this will disable retract switch until it is cycled through deploy position
if ( _force_deploy){
enable(false);
force_deploy(false);
}
if (!_retract_enabled) { if (!_retract_enabled) {
// force deployment if retract is not enabled // force deployment if retract is not enabled
deploy(); deploy();
@ -68,7 +76,7 @@ void AP_LandingGear::update()
return; return;
} }
if (_command_mode == COMMAND_MODE_DEPLOY){ if (_command_mode == COMMAND_MODE_DEPLOY){
deploy(); deploy();
} }

3
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -41,6 +41,8 @@ public:
void update(); void update();
void set_cmd_mode(int8_t cmd) { _command_mode = cmd; } void set_cmd_mode(int8_t cmd) { _command_mode = cmd; }
void force_deploy(bool force) { _force_deploy = force;}
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -54,6 +56,7 @@ private:
// internal variables // internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false bool _deployed; // true if the landing gear has been deployed, initialized false
bool _force_deploy; // used by main code to force landing gear to deploy, such as in Land mode
int8_t _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract int8_t _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
/// enable - enable landing gear retraction /// enable - enable landing gear retraction