VtolLandDetector.h

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/**
 * @file VtolLandDetector.h
 * Land detection implementation for VTOL also called hybrids.
 *
 * @author Roman Bapst <bapstr@gmail.com>
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_status.h>

#include "MulticopterLandDetector.h"

namespace land_detector
{

class VtolLandDetector : public MulticopterLandDetector
{
public:
    VtolLandDetector() = default;
    ~VtolLandDetector() override = default;

protected:
    void _update_topics() override;
    bool _get_landed_state() override;
    bool _get_maybe_landed_state() override;

private:

    uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
    uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};

    airspeed_s _airspeed{};
    vehicle_status_s _vehicle_status{};

    bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */
    float _airspeed_filtered{0.0f}; /**< low pass filtered airspeed */

    DEFINE_PARAMETERS_CUSTOM_PARENT(
        MulticopterLandDetector,
        (ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd_max
    );
};

} // namespace land_detector