Land detector: Better docs and status feedback

src/modules/land_detector/LandDetector.h

@@ -52,19 +52,24 @@ public:
 	virtual ~LandDetector();
 
 	/**
-	* @return true if this task is currently running
+	 * @return true if this task is currently running
-	**/
+	 **/
 	inline bool isRunning() const {return _taskIsRunning;}
 
 	/**
-	* @brief  Tells the Land Detector task that it should exit
+	 * @return the current landed state
-	**/
+	 */
+	bool isLanded() { return _landDetected.landed; }
+
+	/**
+	 * @brief  Tells the Land Detector task that it should exit
+	 **/
 	void shutdown();
 
 	/**
-	* @brief Blocking function that should be called from it's own task thread. This method will
+	 * @brief Blocking function that should be called from it's own task thread. This method will
-	*        run the underlying algorithm at the desired update rate and publish if the landing state changes.
+	 *        run the underlying algorithm at the desired update rate and publish if the landing state changes.
-	**/
+	 **/
 	void start();
 
 protected:

src/modules/land_detector/land_detector_main.cpp

@@ -195,7 +195,7 @@ int land_detector_main(int argc, char *argv[])
 		if (land_detector_task) {
 
 			if (land_detector_task->isRunning()) {
-				warnx("running (%s)", _currentMode);
+				warnx("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
 
 			} else {
 				errx(1, "exists, but not running (%s)", _currentMode);