From 5e34fe600ada43c09321cc2cd7dbbf477b92f92a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 18 Feb 2025 14:36:25 +1100
Subject: [PATCH] Plane: auto-deploy landing gear on fixed wing landing

if LGR_OPTIONS is set to auto-deploy then deploy
---
 ArduPlane/Plane.cpp  | 18 +++++++++++++++++-
 ArduPlane/Plane.h    |  1 -
 ArduPlane/servos.cpp | 28 ----------------------------
 3 files changed, 17 insertions(+), 30 deletions(-)

diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 30a157cedd4..f2601ac80fe 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -558,7 +558,23 @@ void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
         return;
     }
 
-    landing.handle_flight_stage_change(fs == AP_FixedWing::FlightStage::LAND);
+    const bool is_landing = (fs == AP_FixedWing::FlightStage::LAND);
+
+    landing.handle_flight_stage_change(is_landing);
+
+#if AP_LANDINGGEAR_ENABLED
+    if (is_landing) {
+        plane.g2.landing_gear.deploy_for_landing();
+    }
+
+    const bool is_takeoff_complete = (flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
+                                      fs == AP_FixedWing::FlightStage::NORMAL);
+    if (is_takeoff_complete &&
+        arming.is_armed_and_safety_off() &&
+        is_flying()) {
+            g2.landing_gear.retract_after_takeoff();
+    }
+#endif
 
     if (fs == AP_FixedWing::FlightStage::ABORT_LANDING) {
         gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index c686fea5355..37f2912ebfe 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1157,7 +1157,6 @@ private:
     void set_throttle(void);
     void set_takeoff_expected(void);
     void set_servos_flaps(void);
-    void set_landing_gear(void);
     void dspoiler_update(void);
     void airbrake_update(void);
     void landing_neutral_control_surface_servos(void);
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 81445a9f731..cf1b8d1b514 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -747,29 +747,6 @@ void Plane::set_servos_flaps(void)
     flaperon_update();
 }
 
-#if AP_LANDINGGEAR_ENABLED
-/*
-  setup landing gear state
- */
-void Plane::set_landing_gear(void)
-{
-    if (control_mode == &mode_auto && arming.is_armed_and_safety_off() && is_flying() && gear.last_flight_stage != flight_stage) {
-        switch (flight_stage) {
-        case AP_FixedWing::FlightStage::LAND:
-            g2.landing_gear.deploy_for_landing();
-            break;
-        case AP_FixedWing::FlightStage::NORMAL:
-            g2.landing_gear.retract_after_takeoff();
-            break;
-        default:
-            break;
-        }
-    }
-    gear.last_flight_stage = flight_stage;
-}
-#endif // AP_LANDINGGEAR_ENABLED
-
-
 /*
   support for twin-engine planes
  */
@@ -919,11 +896,6 @@ void Plane::set_servos(void)
     // setup flap outputs
     set_servos_flaps();
 
-#if AP_LANDINGGEAR_ENABLED
-    // setup landing gear output
-    set_landing_gear();
-#endif
-
     // set airbrake outputs
     airbrake_update();