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Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up.

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Konrad
2022-03-09 14:07:59 +01:00
committed by Silvan Fuhrer
parent c86d5769ea
commit d7de67844f
1 changed files with 4 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+4 -3
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@@ -45,6 +45,7 @@
#include "vtol_att_control_main.h"
#include <float.h>
#include <uORB/topics/landing_gear.h>
using namespace matrix;
@@ -362,7 +363,7 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH];
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW];
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = mc_in[actuator_controls_s::INDEX_LANDING_GEAR];
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
// FW out = 0, other than roll and pitch depending on elevon lock
fw_out[actuator_controls_s::INDEX_ROLL] = elevon_lock ? 0 : fw_in[actuator_controls_s::INDEX_ROLL];
@@ -383,7 +384,7 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = 0;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
// FW out = FW in, with VTOL transition controlling throttle and airbrakes
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
@@ -401,7 +402,7 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_PITCH] = 0;
mc_out[actuator_controls_s::INDEX_YAW] = 0;
mc_out[actuator_controls_s::INDEX_THROTTLE] = 0;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = 0;
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
// FW out = FW in
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];