mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.5 KiB
C++
137 lines
3.5 KiB
C++
/// @file AP_LandingGear.h
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/// @brief Landing gear control library
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#pragma once
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#include "AP_LandingGear_config.h"
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#if AP_LANDINGGEAR_ENABLED
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#include <AP_Param/AP_Param.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Logger/AP_Logger_config.h>
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/// @class AP_LandingGear
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/// @brief Class managing the control of landing gear
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class AP_LandingGear {
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public:
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AP_LandingGear() {
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// setup parameter defaults
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AP_Param::setup_object_defaults(this, var_info);
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if (_singleton != nullptr) {
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AP_HAL::panic("AP_LandingGear must be singleton");
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}
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_singleton = this;
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}
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/* Do not allow copies */
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CLASS_NO_COPY(AP_LandingGear);
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// get singleton instance
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static AP_LandingGear *get_singleton(void) {
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return _singleton;
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}
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// Gear command modes
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enum LandingGearCommand {
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LandingGear_Retract,
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LandingGear_Deploy,
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};
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// Gear command modes
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enum LandingGearStartupBehaviour {
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LandingGear_Startup_WaitForPilotInput = 0,
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LandingGear_Startup_Retract = 1,
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LandingGear_Startup_Deploy = 2,
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};
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/// initialise state of landing gear
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void init();
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/// returns true if the landing gear is deployed
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bool deployed();
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enum LG_LandingGear_State {
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LG_UNKNOWN = -1,
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LG_RETRACTED = 0,
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LG_DEPLOYED = 1,
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LG_RETRACTING = 2,
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LG_DEPLOYING = 3,
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};
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/// returns detailed state of gear
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LG_LandingGear_State get_state();
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enum LG_WOW_State {
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LG_WOW_UNKNOWN = -1,
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LG_NO_WOW = 0,
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LG_WOW = 1,
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};
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LG_WOW_State get_wow_state();
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/// set landing gear position to retract, deploy or deploy-and-keep-deployed
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void set_position(LandingGearCommand cmd);
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uint32_t get_gear_state_duration_ms() const;
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uint32_t get_wow_state_duration_ms() const;
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static const struct AP_Param::GroupInfo var_info[];
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void update(float height_above_ground_m);
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bool check_before_land(void);
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// retract after takeoff or deploy for landing depending on the OPTIONS parameter
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void retract_after_takeoff();
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void deploy_for_landing();
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private:
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// Parameters
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AP_Int8 _enable;
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AP_Int8 _startup_behaviour; // start-up behaviour (see LandingGearStartupBehaviour)
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AP_Int8 _pin_deployed;
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AP_Int8 _pin_deployed_polarity;
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AP_Int8 _pin_weight_on_wheels;
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AP_Int8 _pin_weight_on_wheels_polarity;
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AP_Int16 _deploy_alt;
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AP_Int16 _retract_alt;
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AP_Int16 _options;
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// bitmask of options
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enum class Option : uint16_t {
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RETRACT_AFTER_TAKEOFF = (1U<<0),
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DEPLOY_DURING_LANDING = (1U<<1)
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};
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// internal variables
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bool _deployed; // true if the landing gear has been deployed, initialized false
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bool _have_changed; // have we changed the servo state?
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int16_t _last_height_above_ground;
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// debounce
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LG_WOW_State wow_state_current = LG_WOW_UNKNOWN;
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uint32_t last_wow_event_ms;
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LG_LandingGear_State gear_state_current = LG_UNKNOWN;
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uint32_t last_gear_event_ms;
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/// retract - retract landing gear
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void retract();
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/// deploy - deploy the landing gear
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void deploy();
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#if HAL_LOGGING_ENABLED
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// log weight on wheels state
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void log_wow_state(LG_WOW_State state);
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#else
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void log_wow_state(LG_WOW_State state) {}
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#endif
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static AP_LandingGear *_singleton;
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};
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#endif // AP_LANDINGGEAR_ENABLED
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