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86 lines
2.5 KiB
86 lines
2.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "AP_LandingGear.h" |
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#include <AP_Relay/AP_Relay.h> |
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#include <AP_Math/AP_Math.h> |
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#include <RC_Channel/RC_Channel.h> |
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#include <AP_HAL/AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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const AP_Param::GroupInfo AP_LandingGear::var_info[] = { |
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// @Param: SERVO_RTRACT |
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// @DisplayName: Landing Gear Servo Retracted PWM Value |
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// @Description: Servo PWM value when landing gear is retracted |
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// @Range: 1000 2000 |
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// @Units: pwm |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("SERVO_RTRACT", 0, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT), |
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// @Param: SERVO_DEPLOY |
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// @DisplayName: Landing Gear Servo Deployed PWM Value |
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// @Description: Servo PWM value when landing gear is deployed |
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// @Range: 1000 2000 |
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// @Units: pwm |
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// @Increment: 1 |
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// @User: Standard |
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AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT), |
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AP_GROUPEND |
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}; |
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/// enable - enable or disable land gear retraction |
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void AP_LandingGear::enable(bool on_off) |
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{ |
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_retract_enabled = on_off; |
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} |
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/// deploy - deploy landing gear |
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void AP_LandingGear::deploy() |
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{ |
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// set servo PWM to deployed position |
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RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm); |
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// set deployed flag |
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_deployed = true; |
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} |
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/// retract - retract landing gear |
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void AP_LandingGear::retract() |
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{ |
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// set servo PWM to retracted position |
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RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm); |
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// reset deployed flag |
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_deployed = false; |
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} |
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/// update - should be called at 10hz |
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void AP_LandingGear::update() |
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{ |
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// if there is a force deploy active, disable retraction, then reset force deploy to consume it |
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// gear will be deployed automatically because _retract_enabled is false. |
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// this will disable retract switch until it is cycled through deploy position |
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if ( _force_deploy){ |
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enable(false); |
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force_deploy(false); |
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} |
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if (!_retract_enabled) { |
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// force deployment if retract is not enabled |
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deploy(); |
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// retract is disabled until switch is placed into deploy position to prevent accidental retraction on bootup if switch was left in retract position |
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enable(_command_mode == LandingGear_Deploy); |
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return; |
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} |
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if (_command_mode == LandingGear_Deploy){ |
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deploy(); |
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} |
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if (_command_mode == LandingGear_Retract){ |
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retract(); |
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} |
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}
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