Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.

src/modules/vtol_att_control/standard.cpp

@@ -45,6 +45,7 @@
 #include "vtol_att_control_main.h"
 
 #include <float.h>
+#include <uORB/topics/landing_gear.h>
 
 using namespace matrix;
 
@@ -362,7 +363,7 @@ void Standard::fill_actuator_outputs()
 		mc_out[actuator_controls_s::INDEX_PITCH]        = mc_in[actuator_controls_s::INDEX_PITCH];
 		mc_out[actuator_controls_s::INDEX_YAW]          = mc_in[actuator_controls_s::INDEX_YAW];
 		mc_out[actuator_controls_s::INDEX_THROTTLE]     = mc_in[actuator_controls_s::INDEX_THROTTLE];
-		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = mc_in[actuator_controls_s::INDEX_LANDING_GEAR];
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
 
 		// FW out = 0, other than roll and pitch depending on elevon lock
 		fw_out[actuator_controls_s::INDEX_ROLL]         = elevon_lock ? 0 : fw_in[actuator_controls_s::INDEX_ROLL];
@@ -383,7 +384,7 @@ void Standard::fill_actuator_outputs()
 		mc_out[actuator_controls_s::INDEX_PITCH]        = mc_in[actuator_controls_s::INDEX_PITCH]    * _mc_pitch_weight;
 		mc_out[actuator_controls_s::INDEX_YAW]          = mc_in[actuator_controls_s::INDEX_YAW]      * _mc_yaw_weight;
 		mc_out[actuator_controls_s::INDEX_THROTTLE]     = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
-		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = 0;
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
 
 		// FW out = FW in, with VTOL transition controlling throttle and airbrakes
 		fw_out[actuator_controls_s::INDEX_ROLL]         = fw_in[actuator_controls_s::INDEX_ROLL];
@@ -401,7 +402,7 @@ void Standard::fill_actuator_outputs()
 		mc_out[actuator_controls_s::INDEX_PITCH]        = 0;
 		mc_out[actuator_controls_s::INDEX_YAW]          = 0;
 		mc_out[actuator_controls_s::INDEX_THROTTLE]     = 0;
-		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = 0;
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
 
 		// FW out = FW in
 		fw_out[actuator_controls_s::INDEX_ROLL]         = fw_in[actuator_controls_s::INDEX_ROLL];