remove the landing gear from the attitude setpoint

- An new message is created just for the landing gear
- The old logic is repalaced by publishing this new topic

src/modules/mc_att_control/mc_att_control.hpp

@@ -56,6 +56,7 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/landing_gear.h>
 
 /**
  * Multicopter attitude control app start / stop handling function
@@ -109,6 +110,7 @@ private:
 	void		vehicle_motor_limits_poll();
 	bool		vehicle_rates_setpoint_poll();
 	void		vehicle_status_poll();
+	void 		landing_gear_state_poll();
 
 	void		publish_actuator_controls();
 	void		publish_rates_setpoint();
@@ -157,6 +159,7 @@ private:
 	int		_sensor_correction_sub{-1};	/**< sensor thermal correction subscription */
 	int		_sensor_bias_sub{-1};		/**< sensor in-run bias correction subscription */
 	int		_vehicle_land_detected_sub{-1};	/**< vehicle land detected subscription */
+	int		_landing_gear_sub{-1};
 
 	unsigned _gyro_count{1};
 	int _selected_gyro{0};
@@ -165,6 +168,7 @@ private:
 	orb_advert_t	_actuators_0_pub{nullptr};		/**< attitude actuator controls publication */
 	orb_advert_t	_controller_status_pub{nullptr};	/**< controller status publication */
 	orb_advert_t	_vehicle_attitude_setpoint_pub{nullptr};
+	orb_advert_t	_landing_gear_pub{nullptr};
 
 	orb_id_t _actuators_id{nullptr};	/**< pointer to correct actuator controls0 uORB metadata structure */
 
@@ -182,6 +186,7 @@ private:
 	struct sensor_correction_s		_sensor_correction {};	/**< sensor thermal corrections */
 	struct sensor_bias_s			_sensor_bias {};	/**< sensor in-run bias corrections */
 	struct vehicle_land_detected_s		_vehicle_land_detected {};
+	struct landing_gear_s 			_landing_gear_state {};
 
 	MultirotorMixer::saturation_status _saturation_status{};
 

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -376,6 +376,17 @@ MulticopterAttitudeControl::vehicle_land_detected_poll()
 
 }
 
+void
+MulticopterAttitudeControl::landing_gear_state_poll()
+{
+	bool updated;
+	orb_check(_landing_gear_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(landing_gear), _landing_gear_sub, &_landing_gear_state);
+	}
+}
+
 float
 MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
 {
@@ -404,9 +415,9 @@ MulticopterAttitudeControl::get_landing_gear_state()
 	if (_vehicle_land_detected.landed) {
 		_gear_state_initialized = false;
 	}
-	float landing_gear = vehicle_attitude_setpoint_s::LANDING_GEAR_DOWN; // default to down
+	float landing_gear = landing_gear_s::LANDING_GEAR_DOWN; // default to down
 	if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
-		landing_gear = vehicle_attitude_setpoint_s::LANDING_GEAR_UP;
+		landing_gear = landing_gear_s::LANDING_GEAR_UP;
 
 	} else if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
 		// Switching the gear off does put it into a safe defined state
@@ -420,6 +431,7 @@ void
 MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_sp)
 {
 	vehicle_attitude_setpoint_s attitude_setpoint{};
+	landing_gear_s landing_gear{};
 	const float yaw = Eulerf(Quatf(_v_att.q)).psi();
 
 	/* reset yaw setpoint to current position if needed */
@@ -508,9 +520,11 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 
 	attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
 
-	attitude_setpoint.landing_gear = get_landing_gear_state();
-	attitude_setpoint.timestamp = hrt_absolute_time();
+	_landing_gear_state.landing_gear = get_landing_gear_state();
+
+	attitude_setpoint.timestamp = landing_gear.timestamp = hrt_absolute_time();
 	orb_publish_auto(ORB_ID(vehicle_attitude_setpoint), &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);
+	orb_publish_auto(ORB_ID(landing_gear), &_landing_gear_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);
 }
 
 /**
@@ -759,7 +773,7 @@ MulticopterAttitudeControl::publish_actuator_controls()
 	_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
 	_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
 	_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
-	_actuators.control[7] = _v_att_sp.landing_gear;
+	_actuators.control[7] = _landing_gear_state.landing_gear;
 	_actuators.timestamp = hrt_absolute_time();
 	_actuators.timestamp_sample = _sensor_gyro.timestamp;
 
@@ -805,6 +819,7 @@ MulticopterAttitudeControl::run()
 	_sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
 	_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
 	_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
+	_landing_gear_sub =  orb_subscribe(ORB_ID(landing_gear));
 
 	/* wakeup source: gyro data from sensor selected by the sensor app */
 	px4_pollfd_struct_t poll_fds = {};
@@ -873,6 +888,7 @@ MulticopterAttitudeControl::run()
 			sensor_correction_poll();
 			sensor_bias_poll();
 			vehicle_land_detected_poll();
+			landing_gear_state_poll();
 			const bool manual_control_updated = vehicle_manual_poll();
 			const bool attitude_updated = vehicle_attitude_poll();
 			attitude_dt += dt;
@@ -982,6 +998,7 @@ MulticopterAttitudeControl::run()
 	orb_unsubscribe(_sensor_correction_sub);
 	orb_unsubscribe(_sensor_bias_sub);
 	orb_unsubscribe(_vehicle_land_detected_sub);
+	orb_unsubscribe(_landing_gear_sub);
 }
 
 int MulticopterAttitudeControl::task_spawn(int argc, char *argv[])