mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
#include "AP_LandingGear.h"
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#include <AP_Relay/AP_Relay.h>
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#include <AP_Math/AP_Math.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
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// @Param: SERVO_RTRACT
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// @DisplayName: Landing Gear Servo Retracted PWM Value
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// @Description: Servo PWM value when landing gear is retracted
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("SERVO_RTRACT", 0, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT),
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// @Param: SERVO_DEPLOY
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// @DisplayName: Landing Gear Servo Deployed PWM Value
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// @Description: Servo PWM value when landing gear is deployed
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// @Range: 1000 2000
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// @Units: PWM
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
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AP_GROUPEND
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};
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/// enable - enable or disable land gear retraction
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void AP_LandingGear::enable(bool on_off)
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{
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_retract_enabled = on_off;
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}
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/// deploy - deploy landing gear
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void AP_LandingGear::deploy()
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{
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// set servo PWM to deployed position
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SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_deploy_pwm);
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// set deployed flag
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_deployed = true;
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}
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/// retract - retract landing gear
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void AP_LandingGear::retract()
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{
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// set servo PWM to retracted position
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SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_retract_pwm);
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// reset deployed flag
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_deployed = false;
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}
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/// update - should be called at 10hz
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void AP_LandingGear::update()
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{
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// if there is a force deploy active, disable retraction, then reset force deploy to consume it
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// gear will be deployed automatically because _retract_enabled is false.
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// this will disable retract switch until it is cycled through deploy position
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if ( _force_deploy){
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enable(false);
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force_deploy(false);
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}
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if (!_retract_enabled) {
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// force deployment if retract is not enabled
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deploy();
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// retract is disabled until switch is placed into deploy position to prevent accidental retraction on bootup if switch was left in retract position
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enable(_command_mode == LandingGear_Deploy);
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return;
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}
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if (_command_mode == LandingGear_Deploy){
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deploy();
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}
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if (_command_mode == LandingGear_Retract){
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retract();
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}
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}
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