CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduCopter/landing_gear.cpp
Views: 1798
1
#include "Copter.h"

2


3
#if AP_LANDINGGEAR_ENABLED

4


5
// Run landing gear controller at 10Hz

6
void Copter::landinggear_update()

7
{

8
    // exit immediately if no landing gear output has been enabled

9
    if (!SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {

10
        return;

11
    }

12


13
    // support height based triggering using rangefinder or altitude above ground

14
    int32_t height_cm = flightmode->get_alt_above_ground_cm();

15


16
    // use rangefinder if available

17
#if AP_RANGEFINDER_ENABLED

18
    switch (rangefinder.status_orient(ROTATION_PITCH_270)) {

19
    case RangeFinder::Status::NotConnected:

20
    case RangeFinder::Status::NoData:

21
        // use altitude above home for non-functioning rangefinder

22
        break;

23


24
    case RangeFinder::Status::OutOfRangeLow:

25
        // altitude is close to zero (gear should deploy)

26
        height_cm = 0;

27
        break;

28


29
    case RangeFinder::Status::OutOfRangeHigh:

30
    case RangeFinder::Status::Good:

31
        // use last good reading

32
        height_cm = rangefinder_state.alt_cm_filt.get();

33
        break;

34
    }

35
#endif  // AP_RANGEFINDER_ENABLED

36


37
    landinggear.update(height_cm * 0.01f); // convert cm->m for update call

38
}

39


40
#endif // AP_LANDINGGEAR_ENABLED

41


42