From c81dd46b02819b0f14d78c3fb9ded9adacd91c4a Mon Sep 17 00:00:00 2001
From: Sander Smeets <sander@droneslab.com>
Date: Sun, 6 Aug 2017 16:02:56 +0200
Subject: [PATCH] land detector VTOL inherit MC maybe_landed (#7738)

* maybe_landed state for VTOL inherited from MC
* set correct land detector for SITL
---
 posix-configs/SITL/init/ekf2/standard_vtol     |  2 +-
 posix-configs/SITL/init/ekf2/tailsitter        |  2 +-
 posix-configs/SITL/init/lpe/standard_vtol      |  2 +-
 src/modules/land_detector/VtolLandDetector.cpp | 17 -----------------
 src/modules/land_detector/VtolLandDetector.h   | 16 ++++------------
 5 files changed, 7 insertions(+), 32 deletions(-)

diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
index 822d15746d..8cd0117e19 100644
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -70,7 +70,7 @@ measairspeedsim start
 pwm_out_sim mode_pwm
 sensors start
 commander start
-land_detector start multicopter
+land_detector start vtol
 navigator start
 ekf2 start
 vtol_att_control start
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index ba01a8f0cd..0795c9f968 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -51,7 +51,7 @@ measairspeedsim start
 pwm_out_sim mode_pwm
 sensors start
 commander start
-land_detector start multicopter
+land_detector start vtol
 navigator start
 ekf2 start
 vtol_att_control start
diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
index 1a0b2863f6..36e2592578 100644
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ b/posix-configs/SITL/init/lpe/standard_vtol
@@ -65,7 +65,7 @@ measairspeedsim start
 pwm_out_sim mode_pwm
 sensors start
 commander start
-land_detector start multicopter
+land_detector start vtol
 navigator start
 attitude_estimator_q start
 local_position_estimator start
diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp
index 4c918b4311..54a338777f 100644
--- a/src/modules/land_detector/VtolLandDetector.cpp
+++ b/src/modules/land_detector/VtolLandDetector.cpp
@@ -71,18 +71,6 @@ void VtolLandDetector::_update_topics()
 	_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
 }
 
-bool VtolLandDetector::_get_ground_contact_state()
-{
-	return MulticopterLandDetector::_get_ground_contact_state();
-}
-
-bool VtolLandDetector::_get_maybe_landed_state()
-{
-
-	// TODO
-	return false;
-}
-
 bool VtolLandDetector::_get_landed_state()
 {
 	// this is returned from the mutlicopter land detector
@@ -108,11 +96,6 @@ bool VtolLandDetector::_get_landed_state()
 	return landed;
 }
 
-bool VtolLandDetector::_get_freefall_state()
-{
-	return MulticopterLandDetector::_get_freefall_state();
-}
-
 void VtolLandDetector::_update_params()
 {
 	MulticopterLandDetector::_update_params();
diff --git a/src/modules/land_detector/VtolLandDetector.h b/src/modules/land_detector/VtolLandDetector.h
index f7f1080721..8132aadc04 100644
--- a/src/modules/land_detector/VtolLandDetector.h
+++ b/src/modules/land_detector/VtolLandDetector.h
@@ -54,19 +54,11 @@ public:
 	VtolLandDetector();
 
 protected:
-	virtual void _initialize_topics() override;
+	void _initialize_topics() override;
+	void _update_params() override;
+	void _update_topics() override;
+	bool _get_landed_state() override;
 
-	virtual void _update_params() override;
-
-	virtual void _update_topics() override;
-
-	virtual bool _get_landed_state() override;
-
-	virtual bool _get_maybe_landed_state() override;
-
-	virtual bool  _get_ground_contact_state() override;
-
-	virtual bool _get_freefall_state() override;
 
 private:
 	struct {