commander: internalize system status bools

Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.

Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.

src/modules/navigator/mission.cpp

@@ -144,7 +144,7 @@ Mission::on_inactive()
 	check_mission_valid();
 
 	/* require takeoff after non-loiter or landing */
-	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
+	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
 		_need_takeoff = true;
 	}
 }
@@ -278,7 +278,7 @@ Mission::update_offboard_mission()
 				_navigator->get_home_position()->alt, _navigator->home_position_valid(),
 				_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
 				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
-				_navigator->get_vstatus()->condition_landed);
+				_navigator->get_land_detected()->landed);
 
 		_navigator->get_mission_result()->valid = !failed;
 		if (!failed) {
@@ -413,7 +413,7 @@ Mission::set_mission_items()
 			 * https://en.wikipedia.org/wiki/Loiter_(aeronautics)
 			 */
 
-			if (_navigator->get_vstatus()->condition_landed) {
+			if (_navigator->get_land_detected()->landed) {
 				/* landed, refusing to take off without a mission */
 
 				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff");
@@ -585,7 +585,7 @@ Mission::set_mission_items()
 		if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
 				&& _work_item_type != WORK_ITEM_TYPE_ALIGN
 				&& _navigator->get_vstatus()->is_rotary_wing
-				&& !_navigator->get_vstatus()->condition_landed
+				&& !_navigator->get_land_detected()->landed
 				&& has_next_position_item) {
 
 			new_work_item_type = WORK_ITEM_TYPE_ALIGN;
@@ -658,7 +658,7 @@ Mission::do_need_takeoff()
 		float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
 
 		/* force takeoff if landed (additional protection) */
-		if (_navigator->get_vstatus()->condition_landed) {
+		if (_navigator->get_land_detected()->landed) {
 			_need_takeoff = true;
 
 		/* if in-air and already above takeoff height, don't do takeoff */
@@ -752,7 +752,7 @@ Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item)
 	float takeoff_alt = get_absolute_altitude_for_item(*mission_item);
 
 	/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
-	if (_navigator->get_vstatus()->condition_landed) {
+	if (_navigator->get_land_detected()->landed) {
 		takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
 
 	} else {
@@ -1118,7 +1118,7 @@ Mission::check_mission_valid()
 				_navigator->get_home_position()->alt, _navigator->home_position_valid(),
 				_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
 				_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
-				_navigator->get_vstatus()->condition_landed);
+				_navigator->get_land_detected()->landed);
 
 		_navigator->increment_mission_instance_count();
 		_navigator->set_mission_result_updated();

src/modules/navigator/mission_block.cpp

@@ -95,7 +95,7 @@ MissionBlock::is_mission_item_reached()
 
 		case NAV_CMD_LAND: /* fall through */
 		case NAV_CMD_VTOL_LAND:
-			return _navigator->get_vstatus()->condition_landed;
+			return _navigator->get_land_detected()->landed;
 
 		/* TODO: count turns */
 		/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
@@ -413,7 +413,7 @@ MissionBlock::set_previous_pos_setpoint()
 void
 MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
 {
-	if (_navigator->get_vstatus()->condition_landed) {
+	if (_navigator->get_land_detected()->landed) {
 		/* landed, don't takeoff, but switch to IDLE mode */
 		item->nav_cmd = NAV_CMD_IDLE;
 

src/modules/navigator/navigator.h

@@ -57,6 +57,7 @@
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_land_detected.h>
 
 #include "navigator_mode.h"
 #include "mission.h"
@@ -133,6 +134,7 @@ public:
 	 * Getters
 	 */
 	struct vehicle_status_s*	    get_vstatus() { return &_vstatus; }
+	struct vehicle_land_detected_s*	    get_land_detected() { return &_land_detected; }
 	struct vehicle_control_mode_s*	    get_control_mode() { return &_control_mode; }
 	struct vehicle_global_position_s*   get_global_position() { return &_global_pos; }
 	struct vehicle_gps_position_s*	    get_gps_position() { return &_gps_pos; }
@@ -200,6 +202,7 @@ private:
 	int		_sensor_combined_sub;		/**< sensor combined subscription */
 	int		_home_pos_sub;			/**< home position subscription */
 	int		_vstatus_sub;			/**< vehicle status subscription */
+	int		_land_detected_sub;		/**< vehicle land detected subscription */
 	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
 	int		_control_mode_sub;		/**< vehicle control mode subscription */
 	int		_onboard_mission_sub;		/**< onboard mission subscription */
@@ -215,6 +218,7 @@ private:
 							  when pos control is deactivated */
 
 	vehicle_status_s				_vstatus;		/**< vehicle status */
+	vehicle_land_detected_s				_land_detected;		/**< vehicle land_detected */
 	vehicle_control_mode_s				_control_mode;		/**< vehicle control mode */
 	vehicle_global_position_s			_global_pos;		/**< global vehicle position */
 	vehicle_gps_position_s				_gps_pos;		/**< gps position */
@@ -300,6 +304,11 @@ private:
 	 */
 	void		vehicle_status_update();
 
+	/**
+	 * Retrieve vehicle land detected
+	 */
+	void		vehicle_land_detected_update();
+
 	/**
 	 * Retrieve vehicle control mode
 	 */

src/modules/navigator/navigator_main.cpp

@@ -107,6 +107,7 @@ Navigator::Navigator() :
 	_gps_pos_sub(-1),
 	_home_pos_sub(-1),
 	_vstatus_sub(-1),
+	_land_detected_sub(-1),
 	_capabilities_sub(-1),
 	_control_mode_sub(-1),
 	_onboard_mission_sub(-1),
@@ -118,6 +119,7 @@ Navigator::Navigator() :
 	_geofence_result_pub(nullptr),
 	_att_sp_pub(nullptr),
 	_vstatus{},
+	_land_detected{},
 	_control_mode{},
 	_global_pos{},
 	_gps_pos{},
@@ -241,6 +243,12 @@ Navigator::vehicle_status_update()
 	}
 }
 
+void
+Navigator::vehicle_land_detected_update()
+{
+	orb_copy(ORB_ID(vehicle_land_detected), _land_detected_sub, &_land_detected);
+}
+
 void
 Navigator::vehicle_control_mode_update()
 {
@@ -290,6 +298,7 @@ Navigator::task_main()
 	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
 	_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_home_pos_sub = orb_subscribe(ORB_ID(home_position));
 	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
@@ -299,6 +308,7 @@ Navigator::task_main()
 
 	/* copy all topics first time */
 	vehicle_status_update();
+	vehicle_land_detected_update();
 	vehicle_control_mode_update();
 	global_position_update();
 	gps_position_update();
@@ -374,6 +384,12 @@ Navigator::task_main()
 			vehicle_status_update();
 		}
 
+		/* vehicle land detected updated */
+		orb_check(_land_detected_sub, &updated);
+		if (updated) {
+			vehicle_land_detected_update();
+		}
+
 		/* navigation capabilities updated */
 		orb_check(_capabilities_sub, &updated);
 		if (updated) {

src/modules/navigator/rtl.cpp

@@ -94,7 +94,7 @@ RTL::on_activation()
 	/* decide where to enter the RTL procedure when we switch into it */
 	if (_rtl_state == RTL_STATE_NONE) {
 		/* for safety reasons don't go into RTL if landed */
-		if (_navigator->get_vstatus()->condition_landed) {
+		if (_navigator->get_land_detected()->landed) {
 			_rtl_state = RTL_STATE_LANDED;
 			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no RTL when landed");