LandDetector: switch land flags to properies instead of one state

src/modules/land_detector/LandDetector.cpp

@@ -48,13 +48,7 @@ namespace land_detector
 LandDetector::LandDetector() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
-{
-	_land_detected.timestamp = hrt_absolute_time();
-	_land_detected.freefall = false;
-	_land_detected.landed = true;
-	_land_detected.ground_contact = false;
-	_land_detected.maybe_landed = false;
-}
+{}
 
 LandDetector::~LandDetector()
 {
@@ -76,12 +70,11 @@ void LandDetector::Run()
 	_update_topics();
 	_update_state();
 
-	const bool landDetected = (_state == LandDetectionState::LANDED);
-	const bool freefallDetected = (_state == LandDetectionState::FREEFALL);
-	const bool maybe_landedDetected = (_state == LandDetectionState::MAYBE_LANDED);
-	const bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
+	const bool freefallDetected = _freefall_hysteresis.get_state();
+	const bool ground_contactDetected = _ground_contact_hysteresis.get_state();
+	const bool maybe_landedDetected = _maybe_landed_hysteresis.get_state();
+	const bool landDetected = _landed_hysteresis.get_state();
 	const float alt_max = _get_max_altitude() > 0.0f ? _get_max_altitude() : INFINITY;
-
 	const bool in_ground_effect = _ground_effect_hysteresis.get_state();
 
 	const hrt_abstime now = hrt_absolute_time();
@@ -163,22 +156,6 @@ void LandDetector::_update_state()
 	_maybe_landed_hysteresis.set_state_and_update(_get_maybe_landed_state(), now_us);
 	_ground_contact_hysteresis.set_state_and_update(_get_ground_contact_state(), now_us);
 	_ground_effect_hysteresis.set_state_and_update(_get_ground_effect_state(), now_us);
-
-	if (_freefall_hysteresis.get_state()) {
-		_state = LandDetectionState::FREEFALL;
-
-	} else if (_landed_hysteresis.get_state()) {
-		_state = LandDetectionState::LANDED;
-
-	} else if (_maybe_landed_hysteresis.get_state()) {
-		_state = LandDetectionState::MAYBE_LANDED;
-
-	} else if (_ground_contact_hysteresis.get_state()) {
-		_state = LandDetectionState::GROUND_CONTACT;
-
-	} else {
-		_state = LandDetectionState::FLYING;
-	}
 }
 
 void LandDetector::_update_topics()

src/modules/land_detector/LandDetector.h

@@ -69,13 +69,6 @@ namespace land_detector
 class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::ScheduledWorkItem
 {
 public:
-	enum class LandDetectionState {
-		FLYING = 0,
-		LANDED = 1,
-		FREEFALL = 2,
-		GROUND_CONTACT = 3,
-		MAYBE_LANDED = 4
-	};
 
 	LandDetector();
 	virtual ~LandDetector();
@@ -93,11 +86,6 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
-	/**
-	 * @return current state.
-	 */
-	LandDetectionState get_state() const { return _state; }
-
 	/**
 	 * Get the work queue going.
 	 */
@@ -151,8 +139,6 @@ protected:
 	/** Run main land detector loop at this interval. */
 	static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
 
-	LandDetectionState _state{LandDetectionState::LANDED};
-
 	systemlib::Hysteresis _freefall_hysteresis{false};
 	systemlib::Hysteresis _landed_hysteresis{true};
 	systemlib::Hysteresis _maybe_landed_hysteresis{true};
@@ -161,7 +147,14 @@ protected:
 
 	actuator_armed_s         _actuator_armed{};
 	vehicle_acceleration_s   _vehicle_acceleration{};
-	vehicle_land_detected_s  _land_detected{};
+	vehicle_land_detected_s _land_detected = {
+		.timestamp = 0,
+		.alt_max = -1.0f,
+		.freefall = false,
+		.ground_contact = true,
+		.maybe_landed = true,
+		.landed = true,
+	};
 	vehicle_local_position_s _vehicle_local_position{};
 
 	orb_advert_t _land_detected_pub{nullptr};

src/modules/land_detector/land_detector_main.cpp

@@ -104,29 +104,8 @@ int LandDetector::task_spawn(int argc, char *argv[])
 int LandDetector::print_status()
 {
 	PX4_INFO("running (%s)", _currentMode);
-	LandDetector::LandDetectionState state = get_state();
-
-	switch (state) {
-	case LandDetector::LandDetectionState::FLYING:
-		PX4_INFO("State: Flying");
-		break;
-
-	case LandDetector::LandDetectionState::LANDED:
-		PX4_INFO("State: Landed");
-		break;
-
-	case LandDetector::LandDetectionState::FREEFALL:
-		PX4_INFO("State: Freefall");
-		break;
-
-	default:
-		PX4_ERR("State: unknown");
-		break;
-	}
-
 	return 0;
 }
-
 int LandDetector::print_usage(const char *reason)
 {
 	if (reason != nullptr) {

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -135,10 +135,10 @@ private:
 	vehicle_land_detected_s _vehicle_land_detected = {
 		.timestamp = 0,
 		.alt_max = -1.0f,
-		.landed = true,
 		.freefall = false,
-		.ground_contact = false,
-		.maybe_landed = false,
+		.ground_contact = true,
+		.maybe_landed = true,
+		.landed = true,
 	};
 
 	vehicle_attitude_setpoint_s	_att_sp{};			/**< vehicle attitude setpoint */