ardupilot/libraries/AP_LandingGear/AP_LandingGear.h

76 lines
2.4 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_LandingGear.h
/// @brief Landing gear control library
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#define AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT 1250 // default PWM value to move servo to when landing gear is up
#define AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT 1750 // default PWM value to move servo to when landing gear is down
// Gear command modes
enum LandingGearCommandMode {
LandingGear_Deploy,
LandingGear_Auto,
LandingGear_Retract
};
/// @class AP_LandingGear
/// @brief Class managing the control of landing gear
class AP_LandingGear {
public:
/// Constructor
AP_LandingGear() :
_retract_enabled(false),
_deployed(false),
_force_deploy(false),
_command_mode(LandingGear_Deploy)
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/// enabled - returns true if landing gear retract is enabled
bool enabled() const { return _retract_enabled; }
/// deployed - returns true if the landing gear is deployed
bool deployed() const { return _deployed; }
/// update - should be called at 10hz
void update();
/// set_cmd_mode - set command mode to deploy, auto or retract
void set_cmd_mode(LandingGearCommandMode cmd) { _command_mode = cmd; }
/// force_deploy - set to true to force gear to deploy
void force_deploy(bool force) { _force_deploy = force;}
static const struct AP_Param::GroupInfo var_info[];
private:
bool _retract_enabled; // true if landing gear retraction is enabled
// Parameters
AP_Int16 _servo_retract_pwm; // PWM value to move servo to when gear is retracted
AP_Int16 _servo_deploy_pwm; // PWM value to move servo to when gear is deployed
// internal variables
bool _deployed; // true if the landing gear has been deployed, initialized false
bool _force_deploy; // used by main code to force landing gear to deploy, such as in Land mode
LandingGearCommandMode _command_mode; // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract
/// enable - enable landing gear retraction
void enable(bool on_off);
/// retract - retract landing gear
void retract();
/// deploy - deploy the landing gear
void deploy();
};