You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
35 lines
1.4 KiB
35 lines
1.4 KiB
#include "Copter.h" |
|
|
|
|
|
// Run landing gear controller at 10Hz |
|
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; |
|
|
|
// 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? |
|
if (control_mode == LAND || |
|
(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.update(); |
|
|
|
// send event message to datalog if status has changed |
|
if (landinggear.deployed() != last_deploy_status){ |
|
if (landinggear.deployed()) { |
|
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED); |
|
} else { |
|
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED); |
|
} |
|
} |
|
|
|
last_deploy_status = landinggear.deployed(); |
|
} |
|
}
|
|
|