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MulticopterRateControl: Add event for landing gear retraction when landed

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This commit is contained in:
Matthias Grob
2021-10-29 10:42:07 +02:00
parent 2b29df06fd
commit 21739c6937
1 changed files with 5 additions and 1 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+5 -1
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@@ -37,6 +37,7 @@
#include <circuit_breaker/circuit_breaker.h> #include <circuit_breaker/circuit_breaker.h>
#include <mathlib/math/Limits.hpp> #include <mathlib/math/Limits.hpp>
#include <mathlib/math/Functions.hpp> #include <mathlib/math/Functions.hpp>
#include <px4_platform_common/events.h>
using namespace matrix; using namespace matrix;
using namespace time_literals; using namespace time_literals;
@@ -155,7 +156,10 @@ MulticopterRateControl::Run()
if (_landing_gear_sub.copy(&landing_gear)) { if (_landing_gear_sub.copy(&landing_gear)) {
if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) { if (landing_gear.landing_gear != landing_gear_s::GEAR_KEEP) {
if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) { if (landing_gear.landing_gear == landing_gear_s::GEAR_UP && (_landed || _maybe_landed)) {
mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear") mavlink_log_critical(&_mavlink_log_pub, "Landed, unable to retract landing gear\t");
events::send(events::ID("mc_rate_control_not_retract_landing_gear_landed"),
{events::Log::Error, events::LogInternal::Info},
"Landed, unable to retract landing gear");
} else { } else {
_landing_gear = landing_gear.landing_gear; _landing_gear = landing_gear.landing_gear;