ardupilot/ArduCopter/landing_gear.cpp

41 lines
1.2 KiB
C++

#include "Copter.h"
#if AP_LANDINGGEAR_ENABLED
// Run landing gear controller at 10Hz
void Copter::landinggear_update()
{
// exit immediately if no landing gear output has been enabled
if (!SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
return;
}
// support height based triggering using rangefinder or altitude above ground
int32_t height_cm = flightmode->get_alt_above_ground_cm();
// use rangefinder if available
#if AP_RANGEFINDER_ENABLED
switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::Status::NotConnected:
case RangeFinder::Status::NoData:
// use altitude above home for non-functioning rangefinder
break;
case RangeFinder::Status::OutOfRangeLow:
// altitude is close to zero (gear should deploy)
height_cm = 0;
break;
case RangeFinder::Status::OutOfRangeHigh:
case RangeFinder::Status::Good:
// use last good reading
height_cm = rangefinder_state.alt_cm_filt.get();
break;
}
#endif // AP_RANGEFINDER_ENABLED
landinggear.update(height_cm * 0.01f); // convert cm->m for update call
}
#endif // AP_LANDINGGEAR_ENABLED