AP_LandingGear: Remove relay control from library.

libraries/AP_LandingGear/AP_LandingGear.cpp

@@ -10,13 +10,6 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
 
-    // @Param: CTL_TYPE
-    // @DisplayName: Landing Gear Control Method(relay or servo)
-    // @Description: Type of signal used to control the landing gear system
-    // @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
-    // @User: Standard
-    AP_GROUPINFO("CTL_TYPE", 0, AP_LandingGear, _control_type, AP_LANDINGGEAR_TRIGGER_TYPE_SERVO),
-
     // @Param: SERVO_RTRACT
     // @DisplayName: Landing Gear Servo Retracted PWM Value
     // @Description: Servo PWM value when landing gear is retracted
@@ -24,7 +17,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
     // @Units: pwm
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("SERVO_RTRACT", 1, AP_LandingGear, _servo_retract_pwm, AP_LANDINGGEAR_SERVO_RETRACT_PWM_DEFAULT),
+    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
@@ -33,7 +26,7 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] PROGMEM = {
     // @Units: pwm
     // @Increment: 1
     // @User: Standard
-    AP_GROUPINFO("SERVO_DEPLOY", 2, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
+    AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
 
     AP_GROUPEND
 };
@@ -46,14 +39,10 @@ void AP_LandingGear::enable(bool on_off)
 
 /// deploy - deploy landing gear
 void AP_LandingGear::deploy()
-{   
-    if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
-        // move servo to deployed position
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm);
-    }else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
-        // set relay off
-        _relay.off(_control_type);
-    }   
+{
+    // set servo PWM to deployed position
+    RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_deploy_pwm);
+
     // set deployed flag
     _deployed = true;    
 }
@@ -61,13 +50,9 @@ void AP_LandingGear::deploy()
 /// retract - retract landing gear
 void AP_LandingGear::retract()
 {    
-    if (_control_type == AP_LANDINGGEAR_TRIGGER_TYPE_SERVO) {
-        // move servo to retracted position
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm);
-    }else if (_control_type <= AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3) {
-        // set relay on
-        _relay.on(_control_type);
-    }
+    // set servo PWM to retracted position
+    RC_Channel_aux::set_radio(RC_Channel_aux::k_landing_gear_control, _servo_retract_pwm);
+
     // reset deployed flag
     _deployed = false;   
 }

libraries/AP_LandingGear/AP_LandingGear.h

@@ -8,13 +8,6 @@
 
 #include <AP_Param.h>
 #include <AP_Common.h>
-#include <AP_Relay.h>
-
-#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_0         0
-#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_1         1
-#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_2         2
-#define AP_LANDINGGEAR_TRIGGER_TYPE_RELAY_3         3
-#define AP_LANDINGGEAR_TRIGGER_TYPE_SERVO           10
 
 #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
@@ -30,8 +23,7 @@ class AP_LandingGear {
 public:
 
     /// Constructor
-    AP_LandingGear(AP_Relay& relay) :
-        _relay(relay),
+    AP_LandingGear() :
         _deployed(false),
         _retract_enabled(false)
     {
@@ -57,12 +49,10 @@ private:
     bool     _retract_enabled;          // true if landing gear retraction is enabled
 
     // Parameters
-    AP_Int8     _control_type;          // 0,1,2,3:Relay 10:Servo
     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
-    AP_Relay    &_relay;                // pointer to relay object from the base class Relay.
     bool        _deployed;              // true if the landing gear has been deployed, initialized false
     int8_t      _command_mode;          // pilots commanded control mode: Manual Deploy, Auto, or Manual Retract