FlightTask: Add interface for landing gear

src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp

@@ -6,7 +6,8 @@ constexpr uint64_t FlightTask::_timeout;
 // First index of empty_setpoint corresponds to time-stamp and requires a finite number.
 const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
 
-const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}};
+const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}};
+const landing_gear_s FlightTask::landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
 const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
 	{	{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
 		{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
@@ -148,7 +149,6 @@ void FlightTask::_setDefaultConstraints()
 	_constraints.speed_up = MPC_Z_VEL_MAX_UP.get();
 	_constraints.speed_down = MPC_Z_VEL_MAX_DN.get();
 	_constraints.tilt = math::radians(MPC_TILTMAX_AIR.get());
-	_constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
 	_constraints.min_distance_to_ground = NAN;
 	_constraints.max_distance_to_ground = NAN;
 }

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp

@@ -45,6 +45,7 @@
 #include <drivers/drv_hrt.h>
 #include <matrix/matrix/math.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/topics/landing_gear.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
@@ -114,6 +115,13 @@ public:
 	 */
 	const vehicle_constraints_s &getConstraints() { return _constraints; }
 
+	/**
+	 * Get landing gear position.
+	 * The constraints can vary with task.
+	 * @return landing gear
+	 */
+	const landing_gear_s &getGear() { return _gear; }
+
 	/**
 	 * Get avoidance desired waypoint
 	 * @return desired waypoints
@@ -132,6 +140,11 @@ public:
 	 */
 	static const vehicle_constraints_s empty_constraints;
 
+	/**
+	 * default landing gear state
+	 */
+	static const landing_gear_s landing_gear_default_keep;
+
 	/**
 	 * Empty desired waypoints.
 	 * All waypoints are set to NAN.
@@ -215,6 +228,8 @@ protected:
 	 */
 	vehicle_constraints_s _constraints{};
 
+	landing_gear_s _gear{};
+
 	/**
 	 * Desired waypoints.
 	 * Goals set by the FCU to be sent to the obstacle avoidance system.