Copter: landing gear position set less often

This change means no pwm output is sent to the landing gear servos until the pilot has moved the switch

ArduCopter/crash_check.cpp

@@ -146,7 +146,7 @@ void Copter::parachute_release()
     parachute.release();
 
     // deploy landing gear
-    landinggear.set_cmd_mode(LandingGear_Deploy);
+    landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
 }
 
 // parachute_manual_release - trigger the release of the parachute, after performing some checks for pilot error

ArduCopter/landing_gear.cpp

@@ -2,13 +2,13 @@
 
 
 // Run landing gear controller at 10Hz
-void Copter::landinggear_update(){
-
+void Copter::landinggear_update()
+{
     // If landing gear control is active, run update function.
     if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
 
-        // last status (deployed or retracted) used to check for changes
-        static bool last_deploy_status;
+        // last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
+        static bool last_deploy_status = landinggear.deployed();
 
         // if we are doing an automatic landing procedure, force the landing gear to deploy.
         // To-Do: should we pause the auto-land procedure to give time for gear to come down?
@@ -16,11 +16,9 @@ void Copter::landinggear_update(){
            (control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) ||
            (control_mode == AUTO && auto_mode == Auto_Land) ||
            (control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) {
-            landinggear.force_deploy(true);
+            landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
         }
 
-        landinggear.update();
-
         // send event message to datalog if status has changed
         if (landinggear.deployed() != last_deploy_status){
             if (landinggear.deployed()) {

ArduCopter/switches.cpp

@@ -191,7 +191,6 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
         case AUXSW_MISSION_RESET:
         case AUXSW_ATTCON_FEEDFWD:
         case AUXSW_ATTCON_ACCEL_LIM:
-        case AUXSW_LANDING_GEAR:
         case AUXSW_MOTOR_ESTOP:
         case AUXSW_MOTOR_INTERLOCK:
         case AUXSW_AVOID_ADSB:
@@ -492,13 +491,10 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
        case AUXSW_LANDING_GEAR:
             switch (ch_flag) {
                 case AUX_SWITCH_LOW:
-                    landinggear.set_cmd_mode(LandingGear_Deploy);
-                    break;
-                case AUX_SWITCH_MIDDLE:
-                    landinggear.set_cmd_mode(LandingGear_Auto);
+                    landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
                     break;
                 case AUX_SWITCH_HIGH:
-                    landinggear.set_cmd_mode(LandingGear_Retract);
+                    landinggear.set_position(AP_LandingGear::LandingGear_Retract);
                     break;
             }
             break;