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Copter: landing gear deployment height calc uses lidar status

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Randy Mackay 2018-11-10 11:37:47 +09:00 committed by Andrew Tridgell
parent 2f79932611
commit d6dca1f6a1
1 changed files with 19 additions and 5 deletions
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24
ArduCopter/landing_gear.cpp
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@ -29,12 +29,26 @@ void Copter::landinggear_update()
last_deploy_status = landinggear.deployed(); last_deploy_status = landinggear.deployed();
// support height based triggering // support height based triggering using rangefinder or altitude above home
float height; float height = current_loc.alt * 0.01;
if (rangefinder_alt_ok()) {
// use rangefinder if available
switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::RangeFinder_NotConnected:
case RangeFinder::RangeFinder_NoData:
// use altitude above home for non-functioning rangefinder
break;
case RangeFinder::RangeFinder_OutOfRangeLow:
// altitude is close to zero (gear should deploy)
height = 0.0f;
break;
case RangeFinder::RangeFinder_OutOfRangeHigh:
case RangeFinder::RangeFinder_Good:
// use last good reading
height = rangefinder_state.alt_cm_filt.get() * 0.01; height = rangefinder_state.alt_cm_filt.get() * 0.01;
} else { break;
height = current_loc.alt * 0.01;
} }
landinggear.update(height); landinggear.update(height);