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FlightTask: apply gear switch depending on task

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This commit is contained in:
Dennis Mannhart
2018-04-27 10:38:25 +02:00
committed by Lorenz Meier
parent c637ccb65f
commit 547cdc051c
6 changed files with 52 additions and 5 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+26
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@@ -81,12 +81,38 @@ bool FlightTaskManual::_evaluateSticks()
_sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _stick_dz.get());
_sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _stick_dz.get());
// Only switch the landing gear up if the user switched from gear down to gear up.
// If the user had the switch in the gear up position and took off ignore it
// until he toggles the switch to avoid retracting the gear immediately on takeoff.
int8_t gear_switch = _sub_manual_control_setpoint->get().gear_switch;
if (!_constraints.landing_gear) {
if (gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
_applyGearSwitch(gear_switch);
}
} else {
_applyGearSwitch(gear_switch);
}
return true;
} else {
/* Timeout: set all sticks to zero */
_sticks.zero();
_sticks_expo.zero();
_constraints.landing_gear = vehicle_constraints_s::GEAR_KEEP;
return false;
}
}
void FlightTaskManual::_applyGearSwitch(uint8_t gswitch)
{
if (gswitch == manual_control_setpoint_s::SWITCH_POS_OFF) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
}
if (gswitch == manual_control_setpoint_s::SWITCH_POS_ON) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
}
}