ardupilot/ArduCopter/landing_gear.cpp

32 lines
1.1 KiB
C++

#include "Copter.h"
// 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;
}
// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
static bool last_deploy_status = landinggear.deployed();
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (flightmode->landing_gear_should_be_deployed()) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
}
// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status) {
if (landinggear.deployed()) {
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
} else {
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
}
}
last_deploy_status = landinggear.deployed();
}