LGR_ parameters¶
9 parameters in the LGR_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
LGR_DEPLOY_ALT¶
Landing gear deployment altitude
Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.
Units |
|
Range |
|
Increment |
|
User level |
Standard |
LGR_DEPLOY_PIN¶
Chassis deployment feedback pin
Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Range |
|
Reboot required |
Yes — the change takes effect after a reboot. |
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
AUX1 |
|
AUX2 |
|
AUX3 |
|
AUX4 |
|
AUX5 |
|
AUX6 |
LGR_DEPLOY_POL¶
Chassis deployment feedback pin polarity
Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Low |
|
High |
LGR_ENABLE¶
Enable landing gear
Enable landing gear control
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
LGR_OPTIONS¶
Landing gear auto retract/deploy options
Options to retract or deploy landing gear in Auto or Guided mode
User level |
Standard |
Bitmask¶
Value |
Meaning |
|---|---|
|
Retract after Takeoff |
|
Deploy during Land |
LGR_RETRACT_ALT¶
Landing gear retract altitude
Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.
Units |
|
Range |
|
Increment |
|
User level |
Standard |
LGR_STARTUP¶
Landing Gear Startup position
Landing Gear Startup behaviour control
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
WaitForPilotInput |
|
Retract |
|
Deploy |
LGR_WOW_PIN¶
Weight on wheels feedback pin
Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Range |
|
Reboot required |
Yes — the change takes effect after a reboot. |
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
AUX1 |
|
AUX2 |
|
AUX3 |
|
AUX4 |
|
AUX5 |
|
AUX6 |
LGR_WOW_POL¶
Weight on wheels feedback pin polarity
Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
User level |
Standard |
Values¶
Value |
Meaning |
|---|---|
|
Low |
|
High |