mirror of https://github.com/ArduPilot/ardupilot
76 lines
2.4 KiB
C++
76 lines
2.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @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_Param/AP_Param.h>
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#include <AP_Common/AP_Common.h>
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#define AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT 1250 // default PWM value to move servo to when landing gear is up
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#define AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT 1750 // default PWM value to move servo to when landing gear is down
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// Gear command modes
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enum LandingGearCommandMode {
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LandingGear_Deploy,
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LandingGear_Auto,
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LandingGear_Retract
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};
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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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/// Constructor
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AP_LandingGear() :
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_retract_enabled(false),
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_deployed(false),
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_force_deploy(false),
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_command_mode(LandingGear_Deploy)
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{
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// setup parameter defaults
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AP_Param::setup_object_defaults(this, var_info);
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}
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/// enabled - returns true if landing gear retract is enabled
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bool enabled() const { return _retract_enabled; }
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/// deployed - returns true if the landing gear is deployed
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bool deployed() const { return _deployed; }
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/// update - should be called at 10hz
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void update();
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/// set_cmd_mode - set command mode to deploy, auto or retract
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void set_cmd_mode(LandingGearCommandMode cmd) { _command_mode = cmd; }
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/// force_deploy - set to true to force gear to deploy
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void force_deploy(bool force) { _force_deploy = force;}
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static const struct AP_Param::GroupInfo var_info[];
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private:
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bool _retract_enabled; // true if landing gear retraction is enabled
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// Parameters
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AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted
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AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed
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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 _force_deploy; // used by main code to force landing gear to deploy, such as in Land mode
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LandingGearCommandMode _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
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/// enable - enable landing gear retraction
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void enable(bool on_off);
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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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};
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