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34 lines
1.4 KiB
34 lines
1.4 KiB
#include "Copter.h" |
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// Run landing gear controller at 10Hz |
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void Copter::landinggear_update() |
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{ |
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// exit immediately if no landing gear output has been enabled |
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if (!SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) { |
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return; |
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} |
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// last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear |
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static bool last_deploy_status = landinggear.deployed(); |
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// if we are doing an automatic landing procedure, force the landing gear to deploy. |
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// To-Do: should we pause the auto-land procedure to give time for gear to come down? |
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if (control_mode == LAND || |
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(control_mode == RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent)) || |
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(control_mode == AUTO && auto_mode == Auto_Land) || |
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(control_mode == AUTO && auto_mode == Auto_RTL && (rtl_state == RTL_LoiterAtHome || rtl_state == RTL_Land || rtl_state == RTL_FinalDescent))) { |
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landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed); |
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} |
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// send event message to datalog if status has changed |
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if (landinggear.deployed() != last_deploy_status) { |
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if (landinggear.deployed()) { |
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Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED); |
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} else { |
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Log_Write_Event(DATA_LANDING_GEAR_RETRACTED); |
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} |
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} |
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last_deploy_status = landinggear.deployed(); |
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}
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