// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// @file AP_LandingGear.h /// @brief Landing gear control library #ifndef AP_LANDINGGEAR_H #define AP_LANDINGGEAR_H #include #include #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 // Gear command modes enum LandingGearCommandMode { LandingGear_Deploy, LandingGear_Auto, LandingGear_Retract }; /// @class AP_LandingGear /// @brief Class managing the control of landing gear class AP_LandingGear { public: /// Constructor AP_LandingGear() : _retract_enabled(false), _deployed(false), _force_deploy(false), _command_mode(LandingGear_Deploy) { // setup parameter defaults AP_Param::setup_object_defaults(this, var_info); } /// 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(); /// 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[]; private: bool _retract_enabled; // true if landing gear retraction is enabled // Parameters AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed // 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 LandingGearCommandMode _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract /// enable - enable landing gear retraction void enable(bool on_off); /// retract - retract landing gear void retract(); /// deploy - deploy the landing gear void deploy(); }; #endif /* AP_LANDINGGEAR_H */