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/**
 * @file VtolLandDetector.cpp
 * Land detection algorithm for VTOL
 *
 * @author Roman Bapst <bapstroma@gmail.com>
 * @author Julian Oes <julian@oes.ch>
 */

#include <drivers/drv_hrt.h>
#include <matrix/math.hpp>

#include "VtolLandDetector.h"

namespace land_detector
{

void VtolLandDetector::_update_topics()
{
	MulticopterLandDetector::_update_topics();
}

bool VtolLandDetector::_get_maybe_landed_state()
{
	// If in Fixed-wing mode, only trigger if disarmed
	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
		return !_armed;
	}

	return MulticopterLandDetector::_get_maybe_landed_state();
}

bool VtolLandDetector::_get_landed_state()
{
	// If in Fixed-wing mode, only trigger if disarmed
	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
		return !_armed;
	}

	return MulticopterLandDetector::_get_landed_state();
}

bool VtolLandDetector::_get_freefall_state()
{
	// true if falling or in a parabolic flight (low gravity)
	bool free_fall_detected = MulticopterLandDetector::_get_freefall_state();

	// only return a positive free fall detected if not in fixed-wing mode
	return _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && free_fall_detected;
}

} // namespace land_detector