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AP_LandingGear: fixed pullup/pulldown and doc strings

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This commit is contained in:
Andrew Tridgell 2018-11-09 09:19:13 +11:00
parent eac7c28005
commit fa1fc004bf
1 changed files with 10 additions and 12 deletions
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22
libraries/AP_LandingGear/AP_LandingGear.cpp
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@ -7,8 +7,6 @@
extern const AP_HAL::HAL& hal;
#define MASK_LOG_CTUN (1<<4)
const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Param: SERVO_RTRACT
@ -38,8 +36,8 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Param: DEPLOY_PIN
// @DisplayName: Chassis deployment feedback pin
// @Description: Pin number to use for feedback of gear deployment. If set to -1 feedback is disabled.
// @Values: -1:Disabled,50:PX4 AUX1,51:PX4 AUX2,52:PX4 AUX3,53:PX4 AUX4,54:PX4 AUX5,55:PX4 AUX6
// @Description: Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("DEPLOY_PIN", 3, AP_LandingGear, _pin_deployed, -1),
@ -54,7 +52,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// @Param: WOW_PIN
// @DisplayName: Weight on wheels feedback pin
// @Description: Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.
// @Values: -1:Disabled,50:PX4 AUX1,51:PX4 AUX2,52:PX4 AUX3,53:PX4 AUX4,54:PX4 AUX5,55:PX4 AUX6
// @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),
@ -76,13 +74,15 @@ void AP_LandingGear::init()
{
if (_pin_deployed != -1) {
hal.gpio->pinMode(_pin_deployed, HAL_GPIO_INPUT);
hal.gpio->write(_pin_deployed, 1);
// set pullup/pulldown to default to non-deployed state
hal.gpio->write(_pin_deployed, !_pin_deployed_polarity);
log_wow_state(wow_state_current);
}
if (_pin_weight_on_wheels != -1) {
hal.gpio->pinMode(_pin_weight_on_wheels, HAL_GPIO_INPUT);
hal.gpio->write(_pin_weight_on_wheels, 1);
// set pullup/pulldown to default to flying state
hal.gpio->write(_pin_weight_on_wheels, !_pin_weight_on_wheels_polarity);
log_wow_state(wow_state_current);
}
@ -213,9 +213,7 @@ void AP_LandingGear::update()
// log weight on wheels state
void AP_LandingGear::log_wow_state(LG_WOW_State state)
{
if (DataFlash_Class::instance()->should_log(MASK_LOG_CTUN)) {
DataFlash_Class::instance()->Log_Write("LGR", "TimeUS,LandingGear,WeightOnWheels", "Qbb",
AP_HAL::micros64(),
(int8_t)gear_state_current, (int8_t)state);
}
DataFlash_Class::instance()->Log_Write("LGR", "TimeUS,LandingGear,WeightOnWheels", "Qbb",
AP_HAL::micros64(),
(int8_t)gear_state_current, (int8_t)state);
}