land detector vtol require non-zero vehicle_status timestamp

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -71,25 +71,7 @@
 namespace land_detector
 {
 
-MulticopterLandDetector::MulticopterLandDetector() :
-	_paramHandle(),
-	_params(),
-	_vehicleLocalPositionSub(-1),
-	_vehicleLocalPositionSetpointSub(-1),
-	_actuatorsSub(-1),
-	_attitudeSub(-1),
-	_sensor_bias_sub(-1),
-	_vehicle_control_mode_sub(-1),
-	_battery_sub(-1),
-	_vehicleLocalPosition{},
-	_vehicleLocalPositionSetpoint{},
-	_actuators{},
-	_vehicleAttitude{},
-	_sensors{},
-	_control_mode{},
-	_battery{},
-	_min_trust_start(0),
-	_landed_time(0)
+MulticopterLandDetector::MulticopterLandDetector()
 {
 	_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
 	_paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX");
@@ -334,7 +316,7 @@ bool MulticopterLandDetector::_has_low_thrust()
 	float sys_min_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * 0.3f;
 
 	// Check if thrust output is less than the minimum auto throttle param.
-	return _actuators.control[3] <= sys_min_throttle;
+	return _actuators.control[actuator_controls_s::INDEX_THROTTLE] <= sys_min_throttle;
 }
 
 bool MulticopterLandDetector::_has_minimal_thrust()
@@ -348,7 +330,7 @@ bool MulticopterLandDetector::_has_minimal_thrust()
 	}
 
 	// Check if thrust output is less than the minimum auto throttle param.
-	return _actuators.control[3] <= sys_min_throttle;
+	return _actuators.control[actuator_controls_s::INDEX_THROTTLE] <= sys_min_throttle;
 }
 
 } // namespace land_detector

src/modules/land_detector/MulticopterLandDetector.h

@@ -66,21 +66,16 @@ class MulticopterLandDetector : public LandDetector
 	MulticopterLandDetector();
 
 protected:
-	virtual void _initialize_topics() override;
+	void _initialize_topics() override;
+	void _update_params() override;
+	void _update_topics() override;
 
-	virtual void _update_params() override;
+	bool _get_landed_state() override;
+	bool _get_ground_contact_state() override;
+	bool _get_maybe_landed_state() override;
+	bool _get_freefall_state() override;
 
-	virtual void _update_topics() override;
-
-	virtual bool _get_landed_state() override;
-
-	virtual bool _get_ground_contact_state() override;
-
-	virtual bool _get_maybe_landed_state() override;
-
-	virtual bool _get_freefall_state() override;
-
-	virtual float _get_max_altitude() override;
+	float _get_max_altitude() override;
 private:
 
 	/** Time in us that landing conditions have to hold before triggering a land. */
@@ -110,7 +105,7 @@ class MulticopterLandDetector : public LandDetector
 		param_t freefall_trigger_time;
 		param_t altitude_max;
 		param_t landSpeed;
-	} _paramHandle;
+	} _paramHandle{};
 
 	struct {
 		float maxClimbRate;
@@ -124,26 +119,26 @@ class MulticopterLandDetector : public LandDetector
 		float freefall_trigger_time;
 		float altitude_max;
 		float landSpeed;
-	} _params;
-
-	int _vehicleLocalPositionSub;
-	int _vehicleLocalPositionSetpointSub;
-	int _actuatorsSub;
-	int _attitudeSub;
-	int _sensor_bias_sub;
-	int _vehicle_control_mode_sub;
-	int _battery_sub;
-
-	struct vehicle_local_position_s				_vehicleLocalPosition;
-	struct vehicle_local_position_setpoint_s	_vehicleLocalPositionSetpoint;
-	struct actuator_controls_s					_actuators;
-	struct vehicle_attitude_s					_vehicleAttitude;
-	struct sensor_bias_s					_sensors;
-	struct vehicle_control_mode_s				_control_mode;
-	struct battery_status_s						_battery;
-
-	uint64_t _min_trust_start;		///< timestamp when minimum trust was applied first
-	uint64_t _landed_time;
+	} _params{};
+
+	int _vehicleLocalPositionSub{-1};
+	int _vehicleLocalPositionSetpointSub{-1};
+	int _actuatorsSub{-1};
+	int _attitudeSub{-1};
+	int _sensor_bias_sub{-1};
+	int _vehicle_control_mode_sub{-1};
+	int _battery_sub{-1};
+
+	vehicle_local_position_s				_vehicleLocalPosition {};
+	vehicle_local_position_setpoint_s	_vehicleLocalPositionSetpoint {};
+	actuator_controls_s					_actuators {};
+	vehicle_attitude_s					_vehicleAttitude {};
+	sensor_bias_s					_sensors {};
+	vehicle_control_mode_s				_control_mode {};
+	battery_status_s						_battery {};
+
+	uint64_t _min_trust_start{0};		///< timestamp when minimum trust was applied first
+	uint64_t _landed_time{0};
 
 	/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
 	float _get_takeoff_throttle();

src/modules/land_detector/VtolLandDetector.cpp

@@ -70,7 +70,7 @@ void VtolLandDetector::_update_topics()
 bool VtolLandDetector::_get_maybe_landed_state()
 {
 	// Only trigger in RW mode
-	if (!_vehicle_status.is_rotary_wing) {
+	if ((_vehicle_status.timestamp != 0) && !_vehicle_status.is_rotary_wing) {
 		return false;
 	}
 
@@ -80,7 +80,7 @@ bool VtolLandDetector::_get_maybe_landed_state()
 bool VtolLandDetector::_get_landed_state()
 {
 	// Only trigger in RW mode
-	if (!_vehicle_status.is_rotary_wing) {
+	if ((_vehicle_status.timestamp != 0) && !_vehicle_status.is_rotary_wing) {
 		return false;
 	}