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AP_LandingGear: set pwm only when set_position called

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Also simplify interface and internal state
This commit is contained in:
Randy Mackay 2017-06-10 13:07:38 +09:00
parent 32cb3f8764
commit c9cc0de83d
2 changed files with 32 additions and 62 deletions
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48
libraries/AP_LandingGear/AP_LandingGear.cpp
View File

@ -29,10 +29,24 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
AP_GROUPEND
};
/// enable - enable or disable land gear retraction
void AP_LandingGear::enable(bool on_off)
/// set landing gear position to retract, deploy or deploy-and-keep-deployed
void AP_LandingGear::set_position(LandingGearCommand cmd)
{
_retract_enabled = on_off;
switch (cmd) {
case LandingGear_Retract:
if (!_deploy_lock) {
retract();
}
break;
case LandingGear_Deploy:
deploy();
_deploy_lock = false;
break;
case LandingGear_Deploy_And_Keep_Deployed:
deploy();
_deploy_lock = true;
break;
}
}
/// deploy - deploy landing gear
@ -54,31 +68,3 @@ void AP_LandingGear::retract()
// reset deployed flag
_deployed = false;
}
/// update - should be called at 10hz
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) {
// 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 == LandingGear_Deploy);
return;
}
if (_command_mode == LandingGear_Deploy){
deploy();
}
if (_command_mode == LandingGear_Retract){
retract();
}
}

40
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -8,59 +8,43 @@
#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
// Gear command modes
enum LandingGearCommandMode {
LandingGear_Deploy,
LandingGear_Auto,
LandingGear_Retract
};
/// @class AP_LandingGear
/// @brief Class managing the control of landing gear
class AP_LandingGear {
public:
// Gear command modes
enum LandingGearCommand {
LandingGear_Retract,
LandingGear_Deploy,
LandingGear_Deploy_And_Keep_Deployed,
};
/// Constructor
AP_LandingGear() :
_retract_enabled(false),
_deployed(false),
_force_deploy(false),
_command_mode(LandingGear_Deploy)
AP_LandingGear()
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/// deployed - returns true if the landing gear is deployed
/// returns true if the landing gear is deployed
bool deployed() const { return _deployed; }
/// update - should be called at 10hz
void update();
/// set_cmd_mode - set command mode to deploy, auto or retract
void set_cmd_mode(LandingGearCommandMode cmd) { _command_mode = cmd; }
/// force_deploy - set to true to force gear to deploy
void force_deploy(bool force) { _force_deploy = force;}
/// set landing gear position to retract, deploy or deploy-and-keep-deployed
void set_position(LandingGearCommand cmd);
static const struct AP_Param::GroupInfo var_info[];
private:
bool _retract_enabled; // true if landing gear retraction is enabled
// 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
// internal variables
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
LandingGearCommandMode _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
/// enable - enable landing gear retraction
void enable(bool on_off);
bool _deploy_lock; // used to force landing gear to remain deployed until another regular Deploy command is received to reduce accidental retraction
/// retract - retract landing gear
void retract();