From 11df8168ee1adb410a5a5d0240535eb1d0b41cf3 Mon Sep 17 00:00:00 2001
From: Roman <bapstr@ethz.ch>
Date: Sat, 13 Feb 2016 08:56:25 +0100
Subject: [PATCH] provide ekf2 with landed flag from landing detector

---
 src/lib/ecl                    |  2 +-
 src/modules/ekf2/ekf2_main.cpp | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/lib/ecl b/src/lib/ecl
index ce0ddc0207..ad978c642f 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit ce0ddc02078ff96c5be31f958e515408d158f8aa
+Subproject commit ad978c642ff6f2be06fe8dd29693983e6e216779
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 8cf2b0e8bb..5aa9a39018 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -75,6 +75,7 @@
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/ekf2_innovations.h>
 #include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/vehicle_status.h>
 
 #include <ecl/EKF/ekf.h>
 
@@ -128,6 +129,7 @@ private:
 	int		_airspeed_sub = -1;
 	int		_params_sub = -1;
 	int		_control_mode_sub = -1;
+	int 	_vehicle_status_sub = -1;
 
 	orb_advert_t _att_pub;
 	orb_advert_t _lpos_pub;
@@ -253,6 +255,7 @@ void Ekf2::task_main()
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 	px4_pollfd_struct_t fds[2] = {};
 	fds[0].fd = _sensors_sub;
@@ -295,6 +298,7 @@ void Ekf2::task_main()
 		bool gps_updated = false;
 		bool airspeed_updated = false;
 		bool control_mode_updated = false;
+		bool vehicle_status_updated = false;
 
 		sensor_combined_s sensors = {};
 		airspeed_s airspeed = {};
@@ -364,6 +368,15 @@ void Ekf2::task_main()
 			_ekf->setAirspeedData(airspeed.timestamp, &airspeed.indicated_airspeed_m_s);
 		}
 
+		// read vehicle status if available for 'landed' information
+		orb_check(_vehicle_status_sub, &vehicle_status_updated);
+
+		if (vehicle_status_updated) {
+			struct vehicle_status_s status = {};
+			orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &status);
+			_ekf->set_in_air_status(!status.condition_landed);
+		}
+
 		// run the EKF update
 		_ekf->update();