wip: squashed patch

msg/position_controller_landing_status.msg

@@ -1,9 +1,16 @@
-uint64 timestamp		# time since system start (microseconds)
+uint64 timestamp # [us] time since system start
+float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
+bool flaring # true if the aircraft is flaring
 
-float32 horizontal_slope_displacement
+# abort status is:
+# 0 if not aborted
+# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
+uint8 abort_status
 
-float32 slope_angle_rad
-
-float32 flare_length
-
-bool abort_landing				# true if landing should be aborted
+# abort reasons
+# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
+uint8 NOT_ABORTED = 0
+uint8 ABORTED_BY_OPERATOR = 1
+uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
+uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
+uint8 UNKNOWN_ABORT_CRITERION = 4