AP_LandingGear: add OPTIONS parameter and integrate with Copter

ArduCopter/landing_gear.cpp

@@ -12,12 +12,6 @@ void Copter::landinggear_update()
     // last status (deployed or retracted) used to check for changes, initialised to startup state of landing gear
     static bool last_deploy_status = landinggear.deployed();
 
-    // if we are doing an automatic landing procedure, force the landing gear to deploy.
-    // To-Do: should we pause the auto-land procedure to give time for gear to come down?
-    if (flightmode->landing_gear_should_be_deployed()) {
-        landinggear.set_position(AP_LandingGear::LandingGear_Deploy);
-    }
-
     // send event message to datalog if status has changed
     if (landinggear.deployed() != last_deploy_status) {
         if (landinggear.deployed()) {

ArduCopter/mode.h

@@ -66,7 +66,6 @@ class Mode {
     virtual bool is_taking_off() const;
     static void takeoff_stop() { takeoff.stop(); }
 
-    virtual bool landing_gear_should_be_deployed() const { return false; }
     virtual bool is_landing() const { return false; }
 
     // mode requires terrain to be present to be functional
@@ -361,7 +360,6 @@ class ModeAuto : public Mode {
     void nav_guided_start();
 
     bool is_landing() const override;
-    bool landing_gear_should_be_deployed() const override;
 
     bool is_taking_off() const override;
 
@@ -870,7 +868,6 @@ class ModeLand : public Mode {
     bool is_autopilot() const override { return true; }
 
     bool is_landing() const override { return true; };
-    bool landing_gear_should_be_deployed() const override { return true; };
 
     void do_not_use_GPS();
 
@@ -1043,7 +1040,6 @@ class ModeRTL : public Mode {
     bool state_complete() { return _state_complete; }
 
     bool is_landing() const override;
-    bool landing_gear_should_be_deployed() const override;
 
     void restart_without_terrain();
 

ArduCopter/mode_auto.cpp

@@ -234,6 +234,9 @@ void ModeAuto::land_start(const Vector3f& destination)
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 // auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
@@ -358,19 +361,6 @@ bool ModeAuto::is_taking_off() const
     return ((_mode == Auto_TakeOff) && !wp_nav->reached_wp_destination());
 }
 
-bool ModeAuto::landing_gear_should_be_deployed() const
-{
-    switch(_mode) {
-    case Auto_Land:
-        return true;
-    case Auto_RTL:
-        return copter.mode_rtl.landing_gear_should_be_deployed();
-    default:
-        return false;
-    }
-    return false;
-}
-
 // auto_payload_place_start - initialises controller to implement a placing
 void ModeAuto::payload_place_start()
 {
@@ -1493,7 +1483,7 @@ bool ModeAuto::verify_takeoff()
 
     // retract the landing gear
     if (reached_wp_dest) {
-        copter.landinggear.set_position(AP_LandingGear::LandingGear_Retract);
+        copter.landinggear.retract_after_takeoff();
     }
 
     return reached_wp_dest;

ArduCopter/mode_guided.cpp

@@ -370,6 +370,10 @@ void ModeGuided::takeoff_run()
 {
     auto_takeoff_run();
     if (wp_nav->reached_wp_destination()) {
+        // optionally retract landing gear
+        copter.landinggear.retract_after_takeoff();
+
+        // switch to position control mode but maintain current target
         const Vector3f& target = wp_nav->get_wp_destination();
         set_destination(target);
     }

ArduCopter/mode_land.cpp

@@ -37,6 +37,9 @@ bool ModeLand::init(bool ignore_checks)
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
 
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
+
     return true;
 }
 

ArduCopter/mode_rtl.cpp

@@ -274,6 +274,9 @@ void ModeRTL::descent_start()
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 // rtl_descent_run - implements the final descent to the RTL_ALT
@@ -357,26 +360,16 @@ void ModeRTL::land_start()
 
     // initialise yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
+
+    // optionally deploy landing gear
+    copter.landinggear.deploy_for_landing();
 }
 
 bool ModeRTL::is_landing() const
 {
     return _state == RTL_Land;
 }
 
-bool ModeRTL::landing_gear_should_be_deployed() const
-{
-    switch(_state) {
-    case RTL_LoiterAtHome:
-    case RTL_Land:
-    case RTL_FinalDescent:
-        return true;
-    default:
-        return false;
-    }
-    return false;
-}
-
 // rtl_returnhome_run - return home
 //      called by rtl_run at 100hz or more
 void ModeRTL::land_run(bool disarm_on_land)

libraries/AP_LandingGear/AP_LandingGear.cpp

@@ -67,6 +67,14 @@ const AP_Param::GroupInfo AP_LandingGear::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RETRACT_ALT", 8, AP_LandingGear, _retract_alt, 0),
 
+    // @Param: OPTIONS
+    // @DisplayName: Landing gear auto retract/deploy options
+    // @Description: Options to retract or deploy landing gear in Auto or Guided mode
+    // @Values: 1:Retract after Takeoff, 2:Deploy during Land, 3:Retract after Takeoff AND deploy during Land
+    // @Bitmask: 0:Retract after Takeoff,1:Deploy during Land
+    // @User: Standard
+    AP_GROUPINFO("OPTIONS", 9, AP_LandingGear, _options, 3),
+
     AP_GROUPEND
 };
 
@@ -272,3 +280,19 @@ bool AP_LandingGear::check_before_land(void)
     // If the landing gear was not used - return true, otherwise - check for deployed
     return (get_state() == LG_DEPLOYED);
 }
+
+// retract after takeoff if configured via the OPTIONS parameter
+void AP_LandingGear::retract_after_takeoff()
+{
+    if (_options.get() & (uint16_t)Option::RETRACT_AFTER_TAKEOFF) {
+        retract();
+    }
+}
+
+// deploy for landing if configured via the OPTIONS parameter
+void AP_LandingGear::deploy_for_landing()
+{
+    if (_options.get() & (uint16_t)Option::DEPLOY_DURING_LANDING) {
+        deploy();
+    }
+}

libraries/AP_LandingGear/AP_LandingGear.h

@@ -85,6 +85,10 @@ class AP_LandingGear {
 
     bool check_before_land(void);
 
+    // retract after takeoff or deploy for landing depending on the OPTIONS parameter
+    void retract_after_takeoff();
+    void deploy_for_landing();
+
 private:
     // Parameters
     AP_Int8     _startup_behaviour;     // start-up behaviour (see LandingGearStartupBehaviour)
@@ -95,6 +99,13 @@ class AP_LandingGear {
     AP_Int8     _pin_weight_on_wheels_polarity;
     AP_Int16    _deploy_alt;
     AP_Int16    _retract_alt;
+    AP_Int16    _options;
+
+    // bitmask of options
+    enum class Option : uint16_t {
+        RETRACT_AFTER_TAKEOFF = (1U<<0),
+        DEPLOY_DURING_LANDING = (1U<<1)
+    };
 
     // internal variables
     bool        _deployed;              // true if the landing gear has been deployed, initialized false