The landing gear was told to go down or up
InformationRangefinder, optical flow, camera, OSD and other devices
What ArduPilot says:
- LandingGear: RETRACT
- LandingGear: DEPLOY
The landing-gear output (SERVOn_FUNCTION 29) was driven to its deployed or retracted end. It can come from the pilot's switch (RCn_OPTION 29), from the start-up setting LGR_STARTUP, from height (down below LGR_DEPLOY_ALT, up above LGR_RETRACT_ALT, in metres, while armed), or from landing and take-off when LGR_OPTIONS says so. The line is the command, not proof that the legs moved.
Parameters to look at
| Parameter | What it is |
|---|---|
LGR_ENABLE | Enable landing gear |
LGR_STARTUP | Landing Gear Startup position |
LGR_DEPLOY_ALT | Landing gear deployment altitude |
LGR_RETRACT_ALT | Landing gear retract altitude |
LGR_OPTIONS | Landing gear auto retract/deploy options |
The code that sends it
LandingGear: RETRACT
libraries/AP_LandingGear/AP_LandingGear.cpp AP_LandingGear::retract() · Open in ArduPilot Copter-4.7.1
LandingGear: DEPLOY
libraries/AP_LandingGear/AP_LandingGear.cpp AP_LandingGear::deploy() · Open in ArduPilot Copter-4.7.1