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ardupilot/libraries/AP_LandingGear/AP_LandingGear.cpp

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#include "AP_LandingGear.h"
#include <AP_Relay/AP_Relay.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_HAL/AP_HAL.h>
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
// 0 and 1 used by previous retract and deploy pwm, now replaced with SERVOn_MIN/MAX/REVERSED
// @Param: STARTUP
// @DisplayName: Landing Gear Startup position
// @Description: Landing Gear Startup behaviour control
// @Values: 0:WaitForPilotInput, 1:Retract, 2:Deploy
// @User: Standard
AP_GROUPINFO("STARTUP", 2, AP_LandingGear, _startup_behaviour, (uint8_t)AP_LandingGear::LandingGear_Startup_WaitForPilotInput),
// @Param: DEPLOY_PIN
// @DisplayName: Chassis deployment feedback pin
// @Description: Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("DEPLOY_PIN", 3, AP_LandingGear, _pin_deployed, -1),
// @Param: DEPLOY_POL
// @DisplayName: Chassis deployment feedback pin polarity
// @Description: Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.
// @Values: 0:Low,1:High
// @User: Standard
AP_GROUPINFO("DEPLOY_POL", 4, AP_LandingGear, _pin_deployed_polarity, 0),
// @Param: WOW_PIN
// @DisplayName: Weight on wheels feedback pin
// @Description: Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.
// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("WOW_PIN", 5, AP_LandingGear, _pin_weight_on_wheels, DEFAULT_PIN_WOW),
// @Param: WOW_POL
// @DisplayName: Weight on wheels feedback pin polarity
// @Description: Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
// @Values: 0:Low,1:High
// @User: Standard
AP_GROUPINFO("WOW_POL", 6, AP_LandingGear, _pin_weight_on_wheels_polarity, DEFAULT_PIN_WOW_POL),
// @Param: DEPLOY_ALT
// @DisplayName: Landing gear deployment altitude
// @Description: Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.
// @Units: m
// @Range: 0 1000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("DEPLOY_ALT", 7, AP_LandingGear, _deploy_alt, 0),
// @Param: RETRACT_ALT
// @DisplayName: Landing gear retract altitude
// @Description: Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.
// @Units: m
// @Range: 0 1000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0),
AP_GROUPEND
};
AP_LandingGear *AP_LandingGear::_singleton;
/// initialise state of landing gear
void AP_LandingGear::init()
{
if (_pin_deployed != -1) {
hal.gpio->pinMode(_pin_deployed, HAL_GPIO_INPUT);
// set pullup/pulldown to default to non-deployed state
hal.gpio->write(_pin_deployed, !_pin_deployed_polarity);
log_wow_state(wow_state_current);
}
if (_pin_weight_on_wheels != -1) {
hal.gpio->pinMode(_pin_weight_on_wheels, HAL_GPIO_INPUT);
// set pullup/pulldown to default to flying state
hal.gpio->write(_pin_weight_on_wheels, !_pin_weight_on_wheels_polarity);
log_wow_state(wow_state_current);
}
switch ((enum LandingGearStartupBehaviour)_startup_behaviour.get()) {
default:
case LandingGear_Startup_WaitForPilotInput:
// do nothing
break;
case LandingGear_Startup_Retract:
retract();
break;
case LandingGear_Startup_Deploy:
deploy();
break;
}
}
/// set landing gear position to retract, deploy or deploy-and-keep-deployed
void AP_LandingGear::set_position(LandingGearCommand cmd)
{
switch (cmd) {
case LandingGear_Retract:
retract();
break;
case LandingGear_Deploy:
deploy();
break;
}
}
/// deploy - deploy landing gear
void AP_LandingGear::deploy()
{
// set servo PWM to deployed position
SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
// set deployed flag
_deployed = true;
_have_changed = true;
gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: DEPLOY");
}
/// retract - retract landing gear
void AP_LandingGear::retract()
{
// set servo PWM to retracted position
SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
// reset deployed flag
_deployed = false;
_have_changed = true;
gcs().send_text(MAV_SEVERITY_INFO, "LandingGear: RETRACT");
}
bool AP_LandingGear::deployed()
{
if (_pin_deployed == -1) {
return _deployed;
} else {
return hal.gpio->read(_pin_deployed) == _pin_deployed_polarity ? true : false;
}
}
AP_LandingGear::LG_WOW_State AP_LandingGear::get_wow_state()
{
return wow_state_current;
}
AP_LandingGear::LG_LandingGear_State AP_LandingGear::get_state()
{
return gear_state_current;
}
uint32_t AP_LandingGear::get_gear_state_duration_ms()
{
if (last_gear_event_ms == 0) {
return 0;
}
return AP_HAL::millis() - last_gear_event_ms;
}
uint32_t AP_LandingGear::get_wow_state_duration_ms()
{
if (last_wow_event_ms == 0) {
return 0;
}
return AP_HAL::millis() - last_wow_event_ms;
}
void AP_LandingGear::update(float height_above_ground_m)
{
if (_pin_weight_on_wheels == -1) {
last_wow_event_ms = 0;
wow_state_current = LG_WOW_UNKNOWN;
} else {
LG_WOW_State wow_state_new = hal.gpio->read(_pin_weight_on_wheels) == _pin_weight_on_wheels_polarity ? LG_WOW : LG_NO_WOW;
if (wow_state_new != wow_state_current) {
// we changed states, lets note the time.
last_wow_event_ms = AP_HAL::millis();
log_wow_state(wow_state_new);
}
wow_state_current = wow_state_new;
}
if (_pin_deployed == -1) {
last_gear_event_ms = 0;
// If there was no pilot input and state is still unknown - leave it as it is
if (gear_state_current != LG_UNKNOWN) {
gear_state_current = (_deployed == true ? LG_DEPLOYED : LG_RETRACTED);
}
} else {
LG_LandingGear_State gear_state_new;
if (_deployed) {
gear_state_new = (deployed() == true ? LG_DEPLOYED : LG_DEPLOYING);
} else {
gear_state_new = (deployed() == false ? LG_RETRACTED : LG_RETRACTING);
}
if (gear_state_new != gear_state_current) {
// we changed states, lets note the time.
last_gear_event_ms = AP_HAL::millis();
log_wow_state(wow_state_current);
}
gear_state_current = gear_state_new;
}
/*
check for height based triggering
*/
int16_t alt_m = constrain_int16(height_above_ground_m, 0, INT16_MAX);
if (hal.util->get_soft_armed()) {
// only do height based triggering when armed
if ((!_deployed || !_have_changed) &&
_deploy_alt > 0 &&
alt_m <= _deploy_alt &&
_last_height_above_ground > _deploy_alt) {
deploy();
}
if ((_deployed || !_have_changed) &&
_retract_alt > 0 &&
_retract_alt >= _deploy_alt &&
alt_m >= _retract_alt &&
_last_height_above_ground < _retract_alt) {
retract();
}
}
_last_height_above_ground = alt_m;
}
// log weight on wheels state
void AP_LandingGear::log_wow_state(LG_WOW_State state)
{
DataFlash_Class::instance()->Log_Write("LGR", "TimeUS,LandingGear,WeightOnWheels", "Qbb",
AP_HAL::micros64(),
(int8_t)gear_state_current, (int8_t)state);
}
bool AP_LandingGear::check_before_land(void)
{
// If the landing gear state is not known (most probably as it is not used)
if (get_state() == LG_UNKNOWN) {
return true;
}
// If the landing gear was not used - return true, otherwise - check for deployed
return (get_state() == LG_DEPLOYED);
}
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