Add joystick landing gear button support

andrefreitas97 · Apr 11, 2024 · 3cbf805 · 3cbf805
1 parent edcfa7b
commit 3cbf805
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Showing 4 changed files with 44 additions and 6 deletions.
diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
@@ -67,6 +67,8 @@ const char* Joystick::_buttonActionGimbalCenter =       QT_TR_NOOP("Gimbal Cente
 const char* Joystick::_buttonActionEmergencyStop =      QT_TR_NOOP("Emergency Stop");
 const char* Joystick::_buttonActionGripperGrab =        QT_TR_NOOP("Gripper Close");
 const char* Joystick::_buttonActionGripperRelease =     QT_TR_NOOP("Gripper Open");
+const char* Joystick::_buttonActionLandingGearDeploy=   QT_TR_NOOP("Landing gear deploy");
+const char* Joystick::_buttonActionLandingGearRetract=  QT_TR_NOOP("Landing gear retract");
 
 const char* Joystick::_rgFunctionSettingsKey[Joystick::maxFunction] = {
     "RollAxis",
@@ -721,6 +723,8 @@ void Joystick::startPolling(Vehicle* vehicle)
             disconnect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             disconnect(this, &Joystick::emergencyStop,      _activeVehicle, &Vehicle::emergencyStop);
             disconnect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            disconnect(this, &Joystick::landingGearDeploy,  _activeVehicle, &Vehicle::landingGearDeploy);
+            disconnect(this, &Joystick::landingGearRetract, _activeVehicle, &Vehicle::landingGearRetract);
             disconnect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
         // Always set up the new vehicle
@@ -745,6 +749,8 @@ void Joystick::startPolling(Vehicle* vehicle)
             connect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             connect(this, &Joystick::emergencyStop,      _activeVehicle, &Vehicle::emergencyStop);
             connect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            connect(this, &Joystick::landingGearDeploy,  _activeVehicle, &Vehicle::landingGearDeploy);
+            connect(this, &Joystick::landingGearRetract, _activeVehicle, &Vehicle::landingGearRetract);
             connect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
     }
@@ -766,6 +772,8 @@ void Joystick::stopPolling(void)
             disconnect(this, &Joystick::centerGimbal,       _activeVehicle, &Vehicle::centerGimbal);
             disconnect(this, &Joystick::gimbalControlValue, _activeVehicle, &Vehicle::gimbalControlValue);
             disconnect(this, &Joystick::gripperAction,      _activeVehicle, &Vehicle::setGripperAction);
+            disconnect(this, &Joystick::landingGearDeploy,  _activeVehicle, &Vehicle::landingGearDeploy);
+            disconnect(this, &Joystick::landingGearRetract, _activeVehicle, &Vehicle::landingGearRetract);
             disconnect(_activeVehicle, &Vehicle::flightModesChanged, this, &Joystick::_flightModesChanged);
         }
         _exitThread = true;
@@ -1064,6 +1072,10 @@ void Joystick::_executeButtonAction(const QString& action, bool buttonDown)
         if(buttonDown) {
             emit gripperAction(GRIPPER_ACTION_RELEASE);
         }
+    } else if(action == _buttonActionLandingGearDeploy) {
+        if (buttonDown) emit landingGearDeploy();
+    } else if(action == _buttonActionLandingGearRetract) {
+        if (buttonDown) emit landingGearRetract();
     } else {
         if (buttonDown && _activeVehicle) {
             for (auto& item : _customMavCommands) {
@@ -1158,6 +1170,8 @@ void Joystick::_buildActionList(Vehicle* activeVehicle)
     _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionEmergencyStop));
     _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGripperGrab));
     _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionGripperRelease));
+    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionLandingGearDeploy));
+    _assignableButtonActions.append(new AssignableButtonAction(this, _buttonActionLandingGearRetract));
 
     for (auto& item : _customMavCommands) {
         _assignableButtonActions.append(new AssignableButtonAction(this, item.name()));

diff --git a/src/Joystick/Joystick.h b/src/Joystick/Joystick.h
@@ -218,12 +218,9 @@ class Joystick : public QThread
     void setVtolInFwdFlight         (bool set);
     void setFlightMode              (const QString& flightMode);
     void emergencyStop              ();
-    /**
-     * @brief Send MAV_CMD_DO_GRIPPER command to the vehicle
-     * 
-     * @param gripperAction (Open / Close) Gripper action to command
-     */
     void gripperAction              (GRIPPER_ACTIONS gripperAction);
+    void landingGearDeploy          ();
+    void landingGearRetract         ();
 
 protected:
     void    _setDefaultCalibration  ();
@@ -361,7 +358,8 @@ class Joystick : public QThread
     static const char* _buttonActionEmergencyStop;
     static const char* _buttonActionGripperGrab;
     static const char* _buttonActionGripperRelease;
-
+    static const char* _buttonActionLandingGearDeploy;
+    static const char* _buttonActionLandingGearRetract;
 
 private slots:
     void _activeVehicleChanged(Vehicle* activeVehicle);

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
@@ -2953,6 +2953,26 @@ void Vehicle::emergencyStop()
                 21196.0f);  // Magic number for emergency stop
 }
 
+void Vehicle::landingGearDeploy()
+{
+    sendMavCommand(
+                defaultComponentId(),
+                MAV_CMD_AIRFRAME_CONFIGURATION,
+                true,       // show error if fails
+                -1.0f,      // all gears
+                0.0f);      // down
+}
+
+void Vehicle::landingGearRetract()
+{
+    sendMavCommand(
+                defaultComponentId(),
+                MAV_CMD_AIRFRAME_CONFIGURATION,
+                true,       // show error if fails
+                -1.0f,      // all gears
+                1.0f);      // up
+}
+
 void Vehicle::setCurrentMissionSequence(int seq)
 {
     SharedLinkInterfacePtr sharedLink = vehicleLinkManager()->primaryLink().lock();

diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
@@ -410,6 +410,12 @@ class Vehicle : public FactGroup
     /// Command vehicle to abort landing
     Q_INVOKABLE void abortLanding(double climbOutAltitude);
 
+    /// Command vichecle to deploy landing gear
+    Q_INVOKABLE void landingGearDeploy();
+
+    /// Command vichecle to retract landing gear
+    Q_INVOKABLE void landingGearRetract();
+
     Q_INVOKABLE void startMission();
 
     /// Alter the current mission item on the vehicle