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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
2022-12-19 15:36:31 +01:00
parent 3e884116c4
commit 16594bffa9
14 changed files with 54 additions and 55 deletions
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src/modules/fw_rate_control/FixedwingRateControl.cpp
-2
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@@ -437,8 +437,6 @@ void FixedwingRateControl::Run()
_actuator_controls.control[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
_actuator_controls.control[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
_actuator_controls.control[actuator_controls_s::INDEX_AIRBRAKES] = 0.f;
// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
_actuator_controls.control[actuator_controls_s::INDEX_LANDING_GEAR] = _manual_control_setpoint.aux3;
/* lazily publish the setpoint only once available */
_actuator_controls.timestamp = hrt_absolute_time();