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COPTER: Add mavlink landing gear control 

Add MAV_CMD_AIRFRAME_CONFIGURATION (# 2520), which is for landing gear
control.
Param 1 is not used in ArduPilot
Param 2 is deploy/retract. 0 is deploy, 1 is Retract
This commit is contained in:
Matt 2018-07-30 18:13:37 -04:00 committed by Randy Mackay
parent a262099d35
commit fd332287b2
1 changed files with 15 additions and 0 deletions
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15
ArduCopter/GCS_Mavlink.cpp
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@ -928,6 +928,21 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_AIRFRAME_CONFIGURATION: {
// Param 1: Select which gear, not used in ArduPilot
// Param 2: 0 = Deploy, 1 = Retract
// For safety, anything other than 1 will deploy
switch ((uint8_t)packet.param2) {
case 1:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
return MAV_RESULT_ACCEPTED;
default:
copter.landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
if (copter.failsafe.radio) {