Landing gear reversed with upgrade to 4.0

ArduCopter Copter 4.0
1

I am running Arducopter on a pixhawk hex. I was running an older version and everything was fine. I updated 4.0 and the landing gear is reversed. In the old version I had set lgr_servo_deploy and lgr_servo_retract to get the proper servo positions for retract and extend. In version 4.0 I cannot find these parameters anymore. Where did they go. I am using landing gear on RC7 I have tried setting the reverse flag on RC7 but that doesn’t do anything. Can anyone help with how to get the gear output reversed? Thanks

2

What servo output is the landing gear attached to?
I think you’d set these:
SERVOx _FUNCTION,29
SERVOx _MIN,{min PWM}
SERVOx _MAX,{max PWM}
SERVOx _TRIM,{some PWM for default position}
SERVOx _REVERSED,{0 or 1}

And check the LGR_ parameters for actions.

3

It is on servo7 and I have tried reverse= 0 and 1, also have swapped min and max to see if that works but it didn’t change the behaviour. I don’t think it looks at the other servo parameters when set to function 29.

4

What RCin channel are you using? Tried changing any of those settings for that?

5

Thanks, I will go back and look. I’ll let you know what I figure out.

6

Thanks Shawn! I was looking at the RCIN channels, not the servos. Landing gear RCIn is mapped to channel 7. The landing gear output is mapped to servo 9. When I reversed servo 9 all works properly. It was more intuitive when the landing gear servo parameters were named lgr_servo_xxxxx but this makes the code more versatile I suppose. Now that I know where to look I can work it out. Thanks again for the quick response. Problem solved!

7

I had the same issue tonight after upgrading, so thanks for the solution.