Copter: integrate landing gear option and make edge based

also guided mode now retracts landing gear after takeoff previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
causemx · Feb 25, 2020 · 8d99f20 · 8d99f20
1 parent 6297306
commit 8d99f20
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Showing 6 changed files with 17 additions and 37 deletions.
diff --git a/ArduCopter/landing_gear.cpp b/ArduCopter/landing_gear.cpp
@@ -12,12 +12,6 @@ void Copter::landinggear_update()
     // 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?
-    if (flightmode->landing_gear_should_be_deployed()) {
-        landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
-    }
-
     // send event message to datalog if status has changed
     if (landinggear.deployed() != last_deploy_status) {
         if (landinggear.deployed()) {

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -66,7 +66,6 @@ class Mode {
     virtual bool is_taking_off() const;
     static void takeoff_stop() { takeoff.stop(); }
 
-    virtual bool landing_gear_should_be_deployed() const { return false; }
     virtual bool is_landing() const { return false; }
 
     // mode requires terrain to be present to be functional
@@ -361,7 +360,6 @@ class ModeAuto : public Mode {
     void nav_guided_start();
 
     bool is_landing() const override;
-    bool landing_gear_should_be_deployed() const override;
 
     bool is_taking_off() const override;
 
@@ -870,7 +868,6 @@ class ModeLand : public Mode {
     bool is_autopilot() const override { return true; }
 
     bool is_landing() const override { return true; };
-    bool landing_gear_should_be_deployed() const override { return true; };
 
     void do_not_use_GPS();
 
@@ -1043,7 +1040,6 @@ class ModeRTL : public Mode {
     bool state_complete() { return _state_complete; }
 
     bool is_landing() const override;
-    bool landing_gear_should_be_deployed() const override;
 
     void restart_without_terrain();
 

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -234,6 +234,9 @@ void ModeAuto::land_start(const Vector3f& destination)
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 // auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
@@ -358,19 +361,6 @@ bool ModeAuto::is_taking_off() const
     return ((_mode == Auto_TakeOff) && !wp_nav->reached_wp_destination());
 }
 
-bool ModeAuto::landing_gear_should_be_deployed() const
-{
-    switch(_mode) {
-    case Auto_Land:
-        return true;
-    case Auto_RTL:
-        return copter.mode_rtl.landing_gear_should_be_deployed();
-    default:
-        return false;
-    }
-    return false;
-}
-
 // auto_payload_place_start - initialises controller to implement a placing
 void ModeAuto::payload_place_start()
 {
@@ -1493,7 +1483,7 @@ bool ModeAuto::verify_takeoff()
 
     // retract the landing gear
     if (reached_wp_dest) {
-        copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
+        copter.landinggear.retract_after_takeoff();
     }
 
     return reached_wp_dest;

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
@@ -370,6 +370,10 @@ void ModeGuided::takeoff_run()
 {
     auto_takeoff_run();
     if (wp_nav->reached_wp_destination()) {
+        // optionally retract landing gear
+        copter.landinggear.retract_after_takeoff();
+
+        // switch to position control mode but maintain current target
         const Vector3f& target = wp_nav->get_wp_destination();
         set_destination(target);
     }

diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp
@@ -37,6 +37,9 @@ bool ModeLand::init(bool ignore_checks)
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
 
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
+
     return true;
 }
 

diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
@@ -274,6 +274,9 @@ void ModeRTL::descent_start()
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 // rtl_descent_run - implements the final descent to the RTL_ALT
@@ -357,26 +360,16 @@ void ModeRTL::land_start()
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 bool ModeRTL::is_landing() const
 {
     return _state == RTL_Land;
 }
 
-bool ModeRTL::landing_gear_should_be_deployed() const
-{
-    switch(_state) {
-    case RTL_LoiterAtHome:
-    case RTL_Land:
-    case RTL_FinalDescent:
-        return true;
-    default:
-        return false;
-    }
-    return false;
-}
-
 // rtl_returnhome_run - return home
 //      called by rtl_run at 100hz or more
 void ModeRTL::land_run(bool disarm_on_land)