Move land detector changes to vtol

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -123,7 +123,6 @@ void MulticopterLandDetector::_initialize_topics()
 	_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
 	_vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_battery_sub = orb_subscribe(ORB_ID(battery_status));
-	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 }
 
 void MulticopterLandDetector::_update_topics()
@@ -137,7 +136,6 @@ void MulticopterLandDetector::_update_topics()
 	_orb_update(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
 	_orb_update(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_control_mode);
 	_orb_update(ORB_ID(battery_status), _battery_sub, &_battery);
-	_orb_update(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
 }
 
 void MulticopterLandDetector::_update_params()
@@ -194,11 +192,6 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 		_arming_time = now;
 	}
 
-	// Only trigger in RW mode
-	if (!_vehicle_status.is_rotary_wing) {
-		return false;
-	}
-
 	// If in manual flight mode never report landed if the user has more than idle throttle
 	// Check if user commands throttle and if so, report no ground contact based on
 	// the user intent to take off (even if the system might physically still have
@@ -249,11 +242,6 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 		return true;
 	}
 
-	// Only trigger in RW mode
-	if (!_vehicle_status.is_rotary_wing) {
-		return false;
-	}
-
 	// If we control manually and are still landed, we want to stay idle until the pilot rises the throttle for takeoff
 	if (_state == LandDetectionState::LANDED && _has_manual_control_present()) {
 		if (_manual.z < _get_takeoff_throttle()) {

src/modules/land_detector/MulticopterLandDetector.h

@@ -126,7 +126,6 @@ private:
 	int _ctrl_state_sub;
 	int _vehicle_control_mode_sub;
 	int _battery_sub;
-	int _vehicle_status_sub;
 
 	struct vehicle_local_position_s				_vehicleLocalPosition;
 	struct vehicle_local_position_setpoint_s	_vehicleLocalPositionSetpoint;
@@ -137,7 +136,6 @@ private:
 	struct control_state_s						_ctrl_state;
 	struct vehicle_control_mode_s				_control_mode;
 	struct battery_status_s						_battery;
-	struct vehicle_status_s						_vehicle_status;
 
 	uint64_t _min_trust_start;		///< timestamp when minimum trust was applied first
 	uint64_t _arming_time;

src/modules/land_detector/VtolLandDetector.cpp

@@ -50,6 +50,7 @@ VtolLandDetector::VtolLandDetector() :
 	_paramHandle(),
 	_params(),
 	_airspeedSub(-1),
+	_vehicle_status_sub(-1),
 	_airspeed{},
 	_was_in_air(false),
 	_airspeed_filtered(0)
@@ -62,6 +63,7 @@ void VtolLandDetector::_initialize_topics()
 	MulticopterLandDetector::_initialize_topics();
 
 	_airspeedSub = orb_subscribe(ORB_ID(airspeed));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 }
 
 void VtolLandDetector::_update_topics()
@@ -69,10 +71,27 @@ void VtolLandDetector::_update_topics()
 	MulticopterLandDetector::_update_topics();
 
 	_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
+	_orb_update(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+}
+
+bool VtolLandDetector::_get_maybe_landed_state()
+{
+
+	// Only trigger in RW mode
+	if (!_vehicle_status.is_rotary_wing) {
+		return false;
+	}
+
+	return MulticopterLandDetector::_get_maybe_landed_state();
 }
 
 bool VtolLandDetector::_get_landed_state()
 {
+	// Only trigger in RW mode
+	if (!_vehicle_status.is_rotary_wing) {
+		return false;
+	}
+
 	// this is returned from the mutlicopter land detector
 	bool landed = MulticopterLandDetector::_get_landed_state();
 

src/modules/land_detector/VtolLandDetector.h

@@ -58,6 +58,7 @@ protected:
 	void _update_params() override;
 	void _update_topics() override;
 	bool _get_landed_state() override;
+	bool _get_maybe_landed_state() override;
 
 
 private:
@@ -70,8 +71,10 @@ private:
 	} _params;
 
 	int _airspeedSub;
+	int _vehicle_status_sub;
 
-	struct airspeed_s _airspeed;
+	struct airspeed_s		_airspeed;
+	struct vehicle_status_s	_vehicle_status;
 
 	bool _was_in_air; /**< indicates whether the vehicle was in the air in the previous iteration */
 	float _airspeed_filtered; /**< low pass filtered airspeed */