From efa0e1bf0f2f1a97d7f7f9c98708779e730f87d4 Mon Sep 17 00:00:00 2001
From: ealdaz-seesai <35691522+ealdaz-seesai@users.noreply.github.com>
Date: Tue, 28 Apr 2020 09:59:24 +0100
Subject: [PATCH] Rover land detection (#13769)

* Land Enabled

* Declared Subscriptor in header as originally intended.

In the header it caused SIGSEGV in my machine so that's why it was moved
to .cpp

* Code Style fixed

* Removed confusing comments

* Comment update

Co-authored-by: Julian Oes <julian@oes.ch>
---
 src/modules/land_detector/RoverLandDetector.cpp | 11 ++++++++++-
 src/modules/land_detector/RoverLandDetector.h   |  5 +++++
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp
index 7ac174f0ff..bb1b5e2b4a 100644
--- a/src/modules/land_detector/RoverLandDetector.cpp
+++ b/src/modules/land_detector/RoverLandDetector.cpp
@@ -44,6 +44,7 @@
 namespace land_detector
 {
 
+
 bool RoverLandDetector::_get_ground_contact_state()
 {
 	return true;
@@ -51,7 +52,15 @@ bool RoverLandDetector::_get_ground_contact_state()
 
 bool RoverLandDetector::_get_landed_state()
 {
-	return !_actuator_armed.armed;
+
+	_vehicle_status_sub.update(&_vehicle_status);
+
+	if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+		return true; // If Landing has been requested then say we have landed.
+
+	} else {
+		return !_actuator_armed.armed;  // If we are armed we are not landed.
+	}
 }
 
 } // namespace land_detector
diff --git a/src/modules/land_detector/RoverLandDetector.h b/src/modules/land_detector/RoverLandDetector.h
index 3f1d330299..77abda2e1a 100644
--- a/src/modules/land_detector/RoverLandDetector.h
+++ b/src/modules/land_detector/RoverLandDetector.h
@@ -42,6 +42,7 @@
 #pragma once
 
 #include "LandDetector.h"
+#include <uORB/topics/vehicle_status.h>
 
 namespace land_detector
 {
@@ -56,7 +57,11 @@ protected:
 	bool _get_ground_contact_state() override;
 	bool _get_landed_state() override;
 
+
 private:
+	// Program crashes when Subscriptor declared here
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	vehicle_status_s _vehicle_status{};		/**< vehicle status */
 
 };