VTOL Land Detector: move to airspeed_validated

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/land_detector/VtolLandDetector.cpp

@@ -49,7 +49,7 @@ namespace land_detector
 void VtolLandDetector::_update_topics()
 {
 	MulticopterLandDetector::_update_topics();
-	_airspeed_sub.update(&_airspeed);
+	_airspeed_validated_sub.update(&_airspeed_validated);
 	_vehicle_status_sub.update(&_vehicle_status);
 }
 
@@ -74,10 +74,9 @@ bool VtolLandDetector::_get_landed_state()
 	bool landed = MulticopterLandDetector::_get_landed_state();
 
 	// for vtol we additionally consider airspeed
-	if (hrt_elapsed_time(&_airspeed.timestamp) < 1_s && _airspeed.confidence > 0.99f
-	    && PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) {
+	if (hrt_elapsed_time(&_airspeed_validated.timestamp) < 1_s && PX4_ISFINITE(_airspeed_validated.true_airspeed_m_s)) {
 
-		_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.indicated_airspeed_m_s;
+		_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed_validated.true_airspeed_m_s;
 
 	} else {
 		// if airspeed does not update, set it to zero and rely on multicopter land detector

src/modules/land_detector/VtolLandDetector.h

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <uORB/topics/airspeed.h>
+#include <uORB/topics/airspeed_validated.h>
 #include <uORB/topics/vehicle_status.h>
 
 #include "MulticopterLandDetector.h"
@@ -62,10 +62,10 @@ protected:
 
 private:
 
-	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
+	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
-	airspeed_s _airspeed{};
+	airspeed_validated_s _airspeed_validated{};
 	vehicle_status_s _vehicle_status{};
 
 	bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */