From 04844a04ed5e4a99992e672fb99c0f57fbe24b38 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Tue, 16 Feb 2021 15:21:36 +0100
Subject: [PATCH] ekf control: move time_last_in_air/on_ground out of GPS
 control logic

---
 EKF/control.cpp           |  9 ---------
 EKF/ekf.h                 |  2 --
 EKF/estimator_interface.h | 13 ++++++++++++-
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 1b7926120b..92d40d0131 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -120,8 +120,6 @@ void Ekf::controlFusionModes()
 		_delta_time_baro_us = _baro_sample_delayed.time_us - _delta_time_baro_us;
 	}
 
-
-
 	{
 	// Get range data from buffer and check validity
 	const bool is_rng_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sensor.getSampleAddress());
@@ -599,13 +597,6 @@ void Ekf::controlGpsFusion()
 			   could have been caused by bad GPS.
 			*/
 
-			if (!_control_status.flags.in_air) {
-				_time_last_on_ground_us = _time_last_imu;
-
-			} else {
-				_time_last_in_air = _time_last_imu;
-			}
-
 			const bool recent_takeoff_nav_failure = _control_status.flags.in_air &&
 								!isTimedOut(_time_last_on_ground_us, 30000000) &&
 								isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay) &&
diff --git a/EKF/ekf.h b/EKF/ekf.h
index 55b9de04b1..e2f379eabb 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -959,8 +959,6 @@ private:
 	EKFGSF_yaw _yawEstimator;
 
 	int64_t _ekfgsf_yaw_reset_time{0};	///< timestamp of last emergency yaw reset (uSec)
-	uint64_t _time_last_on_ground_us{0};	///< last time we were on the ground (uSec)
-	uint64_t _time_last_in_air{0};		///< last time we were in air (uSec)
 	bool _do_ekfgsf_yaw_reset{false};	// true when an emergency yaw reset has been requested
 	uint8_t _ekfgsf_yaw_reset_count{0};	// number of times the yaw has been reset to the EKF-GSF estimate
 
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 2b78a50b16..f77f0eebbd 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -94,7 +94,16 @@ public:
 	parameters *getParamHandle() { return &_params; }
 
 	// set vehicle landed status data
-	void set_in_air_status(bool in_air) { _control_status.flags.in_air = in_air; }
+	void set_in_air_status(bool in_air)
+	{
+		if (!in_air) {
+			_time_last_on_ground_us = _time_last_imu;
+
+		} else {
+			_time_last_in_air = _time_last_imu;
+		}
+		_control_status.flags.in_air = in_air;
+	}
 
 	// return true if the attitude is usable
 	bool attitude_valid() const { return ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
@@ -320,6 +329,8 @@ protected:
 					// [1] Vertical position drift rate (m/s)
 					// [2] Filtered horizontal velocity (m/s)
 	uint64_t _time_last_move_detect_us{0};	// timestamp of last movement detection event in microseconds
+	uint64_t _time_last_on_ground_us{0};	///< last time we were on the ground (uSec)
+	uint64_t _time_last_in_air{0};		///< last time we were in air (uSec)
 	bool _gps_drift_updated{false};	// true when _gps_drift_metrics has been updated and is ready for retrieval
 
 	// data buffer instances