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vehicle constraints: remove landing gear

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- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
This commit is contained in:
Simone Guscetti
2018-12-10 16:17:23 +01:00
committed by Dennis Mannhart
parent 6dbed6636d
commit de185726b3
7 changed files with 24 additions and 27 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
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@@ -415,9 +415,9 @@ MulticopterAttitudeControl::get_landing_gear_state()
if (_vehicle_land_detected.landed) {
_gear_state_initialized = false;
}
float landing_gear = landing_gear_s::LANDING_GEAR_DOWN; // default to down
float landing_gear = landing_gear_s::GEAR_DOWN; // default to down
if (_manual_control_sp.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON && _gear_state_initialized) {
landing_gear = landing_gear_s::LANDING_GEAR_UP;
landing_gear = landing_gear_s::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