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LandingGear: command_mode becomes enum

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This commit is contained in:
Randy Mackay 2015-01-07 11:52:59 +09:00
parent 5f3c2bcd11
commit ed7e176c61
2 changed files with 20 additions and 13 deletions
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8
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -72,15 +72,15 @@ void AP_LandingGear::update()
// 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 == COMMAND_MODE_DEPLOY);
enable(_command_mode == LandingGear_Deploy);
return;
}
if (_command_mode == COMMAND_MODE_DEPLOY){
if (_command_mode == LandingGear_Deploy){
deploy();
}
if (_command_mode == COMMAND_MODE_RETRACT){
if (_command_mode == LandingGear_Retract){
retract();
}
}

25
libraries/AP_LandingGear/AP_LandingGear.h
View File

@ -12,9 +12,12 @@
#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
#define COMMAND_MODE_DEPLOY 0 // command gear to deploy
#define COMMAND_MODE_AUTO 1 // command gear to actuate automatically
#define COMMAND_MODE_RETRACT 2 // command gear to retract
// Gear command modes
enum LandingGearCommandMode {
LandingGear_Deploy,
LandingGear_Auto,
LandingGear_Retract
};
/// @class AP_LandingGear
/// @brief Class managing the control of landing gear
@ -24,8 +27,10 @@ public:
/// Constructor
AP_LandingGear() :
_retract_enabled(false),
_deployed(false),
_retract_enabled(false)
_force_deploy(false),
_command_mode(LandingGear_Deploy)
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
@ -33,15 +38,17 @@ public:
/// enabled - returns true if landing gear retract is enabled
bool enabled() const { return _retract_enabled; }
/// deployed - returns true if the landing gear is deployed
bool deployed() const { return _deployed; }
/// update - should be called at 10hz
void update();
void set_cmd_mode(int8_t cmd) { _command_mode = cmd; }
/// 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;}
static const struct AP_Param::GroupInfo var_info[];
@ -57,7 +64,7 @@ private:
// 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
int8_t _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
LandingGearCommandMode _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
/// enable - enable landing gear retraction
void enable(bool on_off);