From ac920633af4bfb32a0e126fe383679e1b4f0ca00 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 9 Nov 2018 17:36:12 +1100
Subject: [PATCH] AP_LandingGear: use SERVO_MIN/MAX/REVERSED for landing gear

---
 libraries/AP_LandingGear/AP_LandingGear.cpp | 22 +++------------------
 libraries/AP_LandingGear/AP_LandingGear.h   |  5 -----
 2 files changed, 3 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp
index d2e9ad14c1..a283be0a34 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.cpp
+++ b/libraries/AP_LandingGear/AP_LandingGear.cpp
@@ -10,23 +10,7 @@ extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
 
-    // @Param: SERVO_RTRACT
-    // @DisplayName: Landing Gear Servo Retracted PWM Value
-    // @Description: Servo PWM value in microseconds when landing gear is retracted
-    // @Range: 1000 2000
-    // @Units: PWM
-    // @Increment: 1
-    // @User: Standard
-    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
-    // @Description: Servo PWM value in microseconds when landing gear is deployed
-    // @Range: 1000 2000
-    // @Units: PWM
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("SERVO_DEPLOY", 1, AP_LandingGear, _servo_deploy_pwm, AP_LANDINGGEAR_SERVO_DEPLOY_PWM_DEFAULT),
+    // 0 and 1 used by previous retract and deploy pwm, now replaced with SERVOn_MIN/MAX/REVERSED
 
     // @Param: STARTUP
     // @DisplayName: Landing Gear Startup position
@@ -136,7 +120,7 @@ void AP_LandingGear::set_position(LandingGearCommand cmd)
 void AP_LandingGear::deploy()
 {
     // set servo PWM to deployed position
-    SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_deploy_pwm);
+    SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
 
     // set deployed flag
     _deployed = true;
@@ -149,7 +133,7 @@ void AP_LandingGear::deploy()
 void AP_LandingGear::retract()
 {
     // set servo PWM to retracted position
-    SRV_Channels::set_output_pwm(SRV_Channel::k_landing_gear_control, _servo_retract_pwm);
+    SRV_Channels::set_output_limit(SRV_Channel::k_landing_gear_control, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
 
     // reset deployed flag
     _deployed = false;
diff --git a/libraries/AP_LandingGear/AP_LandingGear.h b/libraries/AP_LandingGear/AP_LandingGear.h
index 493433e587..1e2781fcf3 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.h
+++ b/libraries/AP_LandingGear/AP_LandingGear.h
@@ -5,9 +5,6 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
 
-#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
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #define DEFAULT_PIN_WOW 8
 #define DEFAULT_PIN_WOW_POL 1
@@ -88,8 +85,6 @@ public:
 
 private:
     // Parameters
-    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
     AP_Int8     _startup_behaviour;     // start-up behaviour (see LandingGearStartupBehaviour)
     
     AP_Int8     _pin_deployed;