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Rework landing gear logic

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- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO  as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 3e884116c4
commit 16594bffa9
14 changed files with 54 additions and 55 deletions
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msg/ActuatorControls.msg
-1
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@@ -8,7 +8,6 @@ uint8 INDEX_THROTTLE = 3
uint8 INDEX_FLAPS = 4
uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 INDEX_GIMBAL_SHUTTER = 3
uint8 INDEX_CAMERA_ZOOM = 4