allow direct transition in standard vtol when landed

src/modules/vtol_att_control/standard.cpp

@@ -183,7 +183,7 @@ void Standard::update_vtol_state()
 			if ((_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans &&
 			     (float)hrt_elapsed_time(&_vtol_schedule.transition_start)
 			     > (_params_standard.front_trans_time_min * 1000000.0f)) ||
-			    !_armed->armed) {
+			    can_transition_on_ground()) {
 				_vtol_schedule.flight_mode = FW_MODE;
 				// we can turn off the multirotor motors now
 				_flag_enable_mc_motors = false;

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -115,6 +115,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd));
 	memset(&_vehicle_status, 0, sizeof(_vehicle_status));
 	memset(&_tecs_status, 0, sizeof(_tecs_status));
+	memset(&_land_detected, 0, sizeof(_land_detected));
 
 	_params.idle_pwm_mc = PWM_DEFAULT_MIN;
 	_params.vtol_motor_count = 0;
@@ -444,6 +445,21 @@ VtolAttitudeControl::tecs_status_poll()
 	}
 }
 
+/**
+* Check for land detector updates.
+*/
+void
+VtolAttitudeControl::land_detected_poll()
+{
+	bool updated;
+
+	orb_check(_land_detected_sub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_land_detected), _land_detected_sub , &_land_detected);
+	}
+}
+
 /**
 * Check received command
 */
@@ -692,6 +708,7 @@ void VtolAttitudeControl::task_main()
 		vehicle_cmd_poll();
 		vehicle_status_poll();
 		tecs_status_poll();
+		land_detected_poll();
 
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -85,6 +85,7 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/tecs_status.h>
+#include <uORB/topics/vehicle_land_detected.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
@@ -132,6 +133,7 @@ public:
 	struct battery_status_s 			*get_batt_status() {return &_batt_status;}
 	struct vehicle_status_s 			*get_vehicle_status() {return &_vehicle_status;}
 	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
+	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
 
 	struct Params 					*get_params() {return &_params;}
 
@@ -159,6 +161,7 @@ private:
 	int 	_vehicle_cmd_sub;
 	int 	_vehicle_status_sub;
 	int	_tecs_status_sub;
+	int	_land_detected_sub;
 
 	int 	_actuator_inputs_mc;	//topic on which the mc_att_controller publishes actuator inputs
 	int 	_actuator_inputs_fw;	//topic on which the fw_att_controller publishes actuator inputs
@@ -191,6 +194,7 @@ private:
 	struct vehicle_command_s			_vehicle_cmd;
 	struct vehicle_status_s				_vehicle_status;
 	struct tecs_status_s				_tecs_status;
+	struct vehicle_land_detected_s			_land_detected;
 
 	Params _params;	// struct holding the parameters
 
@@ -241,6 +245,7 @@ private:
 	void 		vehicle_battery_poll();			// Check for battery updates
 	void		vehicle_cmd_poll();
 	void		tecs_status_poll();
+	void		land_detected_poll();
 	void 		parameters_update_poll();		//Check if parameters have changed
 	void 		vehicle_status_poll();
 	int 		parameters_update();			//Update local paraemter cache

src/modules/vtol_att_control/vtol_type.cpp

@@ -68,6 +68,7 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_batt_status = _attc->get_batt_status();
 	_vehicle_status = _attc->get_vehicle_status();
 	_tecs_status = _attc->get_tecs_status();
+	_land_detected = _attc->get_land_detected();
 	_params = _attc->get_params();
 
 	flag_idle_mc = true;
@@ -168,3 +169,8 @@ void VtolType::update_fw_state()
 		waiting_on_tecs();
 	}
 }
+
+bool VtolType::can_transition_on_ground()
+{
+	return !_armed->armed || _land_detected->landed;
+}

src/modules/vtol_att_control/vtol_type.h

@@ -120,6 +120,11 @@ public:
 	 */
 	virtual void waiting_on_tecs() {};
 
+	/**
+	 * Returns true if we're allowed to do a mode transition on the ground.
+	 */
+	bool can_transition_on_ground();
+
 	void set_idle_mc();
 	void set_idle_fw();
 
@@ -149,6 +154,7 @@ protected:
 	struct battery_status_s 			*_batt_status; 				// battery status
 	struct vehicle_status_s 			*_vehicle_status;			// vehicle status from commander app
 	struct tecs_status_s				*_tecs_status;
+	struct vehicle_land_detected_s			*_land_detected;
 
 	struct Params 					*_params;