Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up.

src/modules/vtol_att_control/tailsitter.cpp

@@ -42,6 +42,8 @@
 #include "tailsitter.h"
 #include "vtol_att_control_main.h"
 
+#include <uORB/topics/landing_gear.h>
+
 #define PITCH_TRANSITION_FRONT_P1 -1.1f	// pitch angle to switch to TRANSITION_P2
 #define PITCH_TRANSITION_BACK -0.25f	// pitch angle to switch to MC
 
@@ -361,6 +363,14 @@ void Tailsitter::fill_actuator_outputs()
 		_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE];
 	}
 
+	// Landing Gear
+	if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
+
+	} else {
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
+	}
+
 	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
 		fw_out[actuator_controls_s::INDEX_ROLL]  = 0;
 		fw_out[actuator_controls_s::INDEX_PITCH] = 0;

src/modules/vtol_att_control/tiltrotor.cpp

@@ -42,6 +42,8 @@
 #include "tiltrotor.h"
 #include "vtol_att_control_main.h"
 
+#include <uORB/topics/landing_gear.h>
+
 using namespace matrix;
 using namespace time_literals;
 
@@ -520,6 +522,14 @@ void Tiltrotor::fill_actuator_outputs()
 		_thrust_setpoint_0->xyz[0] = -_thrust_setpoint_0->xyz[2] * sinf(_tilt_control * M_PI_2_F);
 	}
 
+	// Landing gear
+	if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
+
+	} else {
+		mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
+	}
+
 	// Fixed wing output
 	fw_out[4] = _tilt_control;