Rigging spaceship landing gear

Hi everyone, I am trying to rig some spaceship landing gear. Using the transformation constraint, I have set up some bones to rotate up into the body of the ship, based on the z position of a controller bone.

However, I also want the ship to settle and rise as it lands on the floor, so it feels like it has some weight.
I’ve set up an IK and a floor constraint so that the feet don’t pass through the floor, but unfortunately this breaks my landing gear rotation and control bone.
Anyone have any tips?

To elaborate, these are the two behaviors I want:

landing gear unfold:

Landing suspension:

the problem is that the unfold doesn’t work with the suspension IK:

Is there a better way to do this? I’m obviously not a rigging expert any help would be much appreciated