mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.4 KiB
C++
34 lines
1.4 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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// If landing gear control is active, run update function.
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if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
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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 (control_mode == LAND ||
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(control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
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(control_mode == AUTO && auto_mode == Auto_Land) ||
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(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
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landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
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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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Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
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} else {
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Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
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}
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}
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last_deploy_status = landinggear.deployed();
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}
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}
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