mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
#include "Copter.h"
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// Run landing gear controller at 10Hz
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void Copter::landinggear_update()
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{
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// exit immediately if no landing gear output has been enabled
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if (!SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
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return;
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}
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// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
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static bool last_deploy_status = landinggear.deployed();
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// if we are doing an automatic landing procedure, force the landing gear to deploy.
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// To-Do: should we pause the auto-land procedure to give time for gear to come down?
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if (flightmode->landing_gear_should_be_deployed()) {
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landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
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}
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// send event message to datalog if status has changed
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if (landinggear.deployed() != last_deploy_status) {
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if (landinggear.deployed()) {
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AP::logger().Write_Event(LogEvent::LANDING_GEAR_DEPLOYED);
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} else {
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AP::logger().Write_Event(LogEvent::LANDING_GEAR_RETRACTED);
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}
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}
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last_deploy_status = landinggear.deployed();
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// support height based triggering using rangefinder or altitude above ground
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int32_t height_cm = flightmode->get_alt_above_ground_cm();
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// use rangefinder if available
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switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
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case RangeFinder::Status::NotConnected:
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case RangeFinder::Status::NoData:
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// use altitude above home for non-functioning rangefinder
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break;
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case RangeFinder::Status::OutOfRangeLow:
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// altitude is close to zero (gear should deploy)
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height_cm = 0;
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break;
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case RangeFinder::Status::OutOfRangeHigh:
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case RangeFinder::Status::Good:
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// use last good reading
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height_cm = rangefinder_state.alt_cm_filt.get();
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break;
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}
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landinggear.update(height_cm * 0.01f); // convert cm->m for update call
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}
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