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msg landing_gear: change type to int8

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This commit is contained in:
Simone Guscetti 2018-11-01 11:27:56 +01:00 committed by Dennis Mannhart
parent ee41e3181f
commit aac9221d95
3 changed files with 6 additions and 7 deletions
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2
msg/landing_gear.msg
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@ -3,4 +3,4 @@ uint64 timestamp # time since system start (microseconds)
int8 LANDING_GEAR_UP = 1 # landing gear up
int8 LANDING_GEAR_DOWN = -1 # landing gear down
float32 landing_gear
int8 landing_gear

2
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -773,7 +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] = _landing_gear_state.landing_gear;
_actuators.control[7] = (float)_landing_gear_state.landing_gear;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _sensor_gyro.timestamp;

9
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -812,12 +812,11 @@ MulticopterPositionControl::run()
// they might conflict with each other such as in offboard attitude control.
publish_attitude();
if (_old_landing_gear_position != constraints.landing_gear) {
_landing_gear_state.landing_gear =
(constraints.landing_gear == vehicle_constraints_s::GEAR_UP) ?
landing_gear_s::LANDING_GEAR_UP :
landing_gear_s::LANDING_GEAR_DOWN;
// if theres any change in landing gear setpoint publish it
if (_old_landing_gear_position != constraints.landing_gear
&& constraints.landing_gear != vehicle_constraints_s::GEAR_KEEP) {
_landing_gear_state.landing_gear = constraints.landing_gear;
_landing_gear_state.timestamp = hrt_absolute_time();
if (_landing_gear_pub != nullptr) {