Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_LandingGear: add OPTIONS param to auto deploy and retract

This commit is contained in:
Randy Mackay 2020-02-21 12:08:11 +09:00
parent 23fc62a2d4
commit d0ff724b46
2 changed files with 35 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/AP_LandingGear/AP_LandingGear.cpp
View File

@ -67,6 +67,14 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @User: Standard
AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0),
// @Param: OPTIONS
// @DisplayName: Landing gear auto retract/deploy options
// @Description: Options to retract or deploy landing gear in Auto or Guided mode
// @Values: 1:Retract after Takeoff, 2:Deploy during Land, 3:Retract after Takeoff AND deploy during Land
// @Bitmask: 0:Retract after Takeoff,1:Deploy during Land
// @User: Standard
AP_GROUPINFO("OPTIONS", 9, AP_LandingGear, _options, 3),
AP_GROUPEND
};
@ -272,3 +280,19 @@ bool AP_LandingGear::check_before_land(void)
// If the landing gear was not used - return true, otherwise - check for deployed
return (get_state() == LG_DEPLOYED);
}
// retract after takeoff if configured via the OPTIONS parameter
void AP_LandingGear::retract_after_takeoff()
{
if (_options.get() & (uint16_t)Option::RETRACT_AFTER_TAKEOFF) {
retract();
}
}
// deploy for landing if configured via the OPTIONS parameter
void AP_LandingGear::deploy_for_landing()
{
if (_options.get() & (uint16_t)Option::DEPLOY_DURING_LANDING) {
deploy();
}
}

11
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -85,6 +85,10 @@ public:
bool check_before_land(void);
// retract after takeoff or deploy for landing depending on the OPTIONS parameter
void retract_after_takeoff();
void deploy_for_landing();
private:
// Parameters
AP_Int8 _startup_behaviour; // start-up behaviour (see LandingGearStartupBehaviour)
@ -95,6 +99,13 @@ private:
AP_Int8 _pin_weight_on_wheels_polarity;
AP_Int16 _deploy_alt;
AP_Int16 _retract_alt;
AP_Int16 _options;
// bitmask of options
enum class Option : uint16_t {
RETRACT_AFTER_TAKEOFF = (1U<<0),
DEPLOY_DURING_LANDING = (1U<<1)
};
// internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false