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AP_LandingGear: SITL: only set defualts is SITL pin is set avoiding enable via param conversion

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Iampete1 2022-07-27 19:20:12 +01:00 committed by Andrew Tridgell
parent 7dd196c7ea
commit e511f72294
2 changed files with 13 additions and 10 deletions
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15
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -6,6 +6,10 @@
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_LandingGear::var_info[] = { 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 // @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard // @User: Standard
// @RebootRequired: True // @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 // @Param: WOW_POL
// @DisplayName: Weight on wheels feedback pin polarity // @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. // @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 // @Values: 0:Low,1:High
// @User: Standard // @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 // @Param: DEPLOY_ALT
// @DisplayName: Landing gear deployment altitude // @DisplayName: Landing gear deployment altitude
@ -91,6 +95,13 @@ AP_LandingGear *AP_LandingGear::_singleton;
/// initialise state of landing gear /// initialise state of landing gear
void AP_LandingGear::init() 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) || if (!_enable.configured() && (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control) ||
(_pin_deployed > 0) || (_pin_weight_on_wheels > 0))) { (_pin_deployed > 0) || (_pin_weight_on_wheels > 0))) {
// if not configured set enable param if output servo or sense pins are defined // if not configured set enable param if output servo or sense pins are defined

8
libraries/AP_LandingGear/AP_LandingGear.h
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@ -5,14 +5,6 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.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 /// @class AP_LandingGear
/// @brief Class managing the control of landing gear /// @brief Class managing the control of landing gear
class AP_LandingGear { class AP_LandingGear {