From e511f722948361b262ed05e49d9bd90e1195f5bb Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 27 Jul 2022 19:20:12 +0100
Subject: [PATCH] AP_LandingGear: SITL: only set defualts is SITL pin is set
 avoiding enable via param conversion

---
 libraries/AP_LandingGear/AP_LandingGear.cpp | 15 +++++++++++++--
 libraries/AP_LandingGear/AP_LandingGear.h   |  8 --------
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp
index 3f5b8ceaf7..807b4350f9 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.cpp
+++ b/libraries/AP_LandingGear/AP_LandingGear.cpp
@@ -6,6 +6,10 @@
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <SITL/SITL.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
@@ -47,14 +51,14 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
     // @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
     // @User: Standard
     // @RebootRequired: True
-    AP_GROUPINFO("WOW_PIN", 5, AP_LandingGear, _pin_weight_on_wheels, DEFAULT_PIN_WOW),
+    AP_GROUPINFO("WOW_PIN", 5, AP_LandingGear, _pin_weight_on_wheels, -1),
 
     // @Param: WOW_POL
     // @DisplayName: Weight on wheels feedback pin polarity
     // @Description: Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
     // @Values: 0:Low,1:High
     // @User: Standard
-    AP_GROUPINFO("WOW_POL", 6, AP_LandingGear, _pin_weight_on_wheels_polarity, DEFAULT_PIN_WOW_POL),
+    AP_GROUPINFO("WOW_POL", 6, AP_LandingGear, _pin_weight_on_wheels_polarity, 0),
 
     // @Param: DEPLOY_ALT
     // @DisplayName: Landing gear deployment altitude
@@ -91,6 +95,13 @@ AP_LandingGear *AP_LandingGear::_singleton;
 /// initialise state of landing gear
 void AP_LandingGear::init()
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (AP::sitl()->wow_pin > 0) {
+        _pin_weight_on_wheels.set_and_default(AP::sitl()->wow_pin);
+        _pin_weight_on_wheels_polarity.set_and_default(1);
+    }
+#endif
+
     if (!_enable.configured() && (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control) || 
             (_pin_deployed > 0) || (_pin_weight_on_wheels > 0))) {
         // if not configured set enable param if output servo or sense pins are defined
diff --git a/libraries/AP_LandingGear/AP_LandingGear.h b/libraries/AP_LandingGear/AP_LandingGear.h
index 22222207c0..51ee1702ea 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.h
+++ b/libraries/AP_LandingGear/AP_LandingGear.h
@@ -5,14 +5,6 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#define DEFAULT_PIN_WOW 8
-#define DEFAULT_PIN_WOW_POL 1
-#else
-#define DEFAULT_PIN_WOW -1
-#define DEFAULT_PIN_WOW_POL 0
-#endif
-
 /// @class  AP_LandingGear
 /// @brief  Class managing the control of landing gear
 class AP_LandingGear {