ardupilot/libraries/AP_LandingGear/AP_LandingGear.cpp

85 lines
2.5 KiB
C++

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