AP_AHRS: new APIs for takeoff/touchdown expected

timeout handling now in AP_AHRS, and state stored in AHRS and
requested by AP_DAL

libraries/AP_AHRS/AP_AHRS.cpp

@@ -508,6 +508,32 @@ Vector3f AP_AHRS::get_vibration(void) const
     return AP::ins().get_vibration_levels();
 }
 
+void AP_AHRS::set_takeoff_expected(bool b)
+{
+    _flags.takeoff_expected = b;
+    takeoff_expected_start_ms = AP_HAL::millis();
+}
+
+void AP_AHRS::set_touchdown_expected(bool b)
+{
+    _flags.touchdown_expected = b;
+    touchdown_expected_start_ms = AP_HAL::millis();
+}
+
+/*
+  update takeoff/touchdown flags
+ */
+void AP_AHRS::update_flags(void)
+{
+    const uint32_t timeout_ms = 1000;
+    if (_flags.takeoff_expected && AP_HAL::millis() - takeoff_expected_start_ms > timeout_ms) {
+        _flags.takeoff_expected = false;
+    }
+    if (_flags.touchdown_expected && AP_HAL::millis() - touchdown_expected_start_ms > timeout_ms) {
+        _flags.touchdown_expected = false;
+    }
+}
+
 // singleton instance
 AP_AHRS *AP_AHRS::_singleton;
 

libraries/AP_AHRS/AP_AHRS.h

@@ -95,6 +95,18 @@ public:
         return _flags.fly_forward;
     }
 
+    void set_takeoff_expected(bool b);
+
+    bool get_takeoff_expected(void) const {
+        return _flags.takeoff_expected;
+    }
+
+    void set_touchdown_expected(bool b);
+
+    bool get_touchdown_expected(void) const {
+        return _flags.touchdown_expected;
+    }
+
     AHRS_VehicleClass get_vehicle_class(void) const {
         return _vehicle_class;
     }
@@ -640,6 +652,8 @@ protected:
         uint8_t fly_forward             : 1;    // 1 if we can assume the aircraft will be flying forward on its X axis
         uint8_t correct_centrifugal     : 1;    // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
         uint8_t wind_estimation         : 1;    // 1 if we should do wind estimation
+        uint8_t takeoff_expected        : 1;    // 1 if the vehicle is in a state that takeoff might be expected.  Ground effect may be in play.
+        uint8_t touchdown_expected      : 1;    // 1 if the vehicle is in a state that touchdown might be expected.  Ground effect may be in play.
     } _flags;
 
     // calculate sin/cos of roll/pitch/yaw from rotation
@@ -654,6 +668,9 @@ protected:
     // update roll_sensor, pitch_sensor and yaw_sensor
     void update_cd_values(void);
 
+    // update takeoff/touchdown flags
+    void update_flags();
+
     // pointer to compass object, if available
     Compass         * _compass;
 
@@ -707,6 +724,9 @@ private:
     static AP_AHRS *_singleton;
 
     AP_NMEA_Output* _nmea_out;
+
+    uint32_t takeoff_expected_start_ms;
+    uint32_t touchdown_expected_start_ms;
 };
 
 #include "AP_AHRS_DCM.h"

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -116,6 +116,9 @@ AP_AHRS_DCM::update(bool skip_ins_update)
     update_AOA_SSA();
 
     backup_attitude();
+
+    // update takeoff/touchdown flags
+    update_flags();
 }
 
 /*

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -2581,58 +2581,6 @@ bool AP_AHRS_NavEKF::get_vel_innovations_and_variances_for_source(uint8_t source
     return false;
 }
 
-void AP_AHRS_NavEKF::setTakeoffExpected(bool val)
-{
-    switch (takeoffExpectedState) {
-    case TriState::UNKNOWN:
-        break;
-    case TriState::True:
-        if (val) {
-            return;
-        }
-        break;
-    case TriState::False:
-        if (!val) {
-            return;
-        }
-        break;
-    }
-    takeoffExpectedState = (TriState)val;
-
-#if HAL_NAVEKF2_AVAILABLE
-    EKF2.setTakeoffExpected(val);
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-    EKF3.setTakeoffExpected(val);
-#endif
-}
-
-void AP_AHRS_NavEKF::setTouchdownExpected(bool val)
-{
-    switch (touchdownExpectedState) {
-    case TriState::UNKNOWN:
-        break;
-    case TriState::True:
-        if (val) {
-            return;
-        }
-        break;
-    case TriState::False:
-        if (!val) {
-            return;
-        }
-        break;
-    }
-    touchdownExpectedState = (TriState)val;
-
-#if HAL_NAVEKF2_AVAILABLE
-    EKF2.setTouchdownExpected(val);
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-    EKF3.setTouchdownExpected(val);
-#endif
-}
-
 bool AP_AHRS_NavEKF::getGpsGlitchStatus() const
 {
     nav_filter_status ekf_status {};

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -278,9 +278,6 @@ public:
     // returns the estimated magnetic field offsets in body frame
     bool get_mag_field_correction(Vector3f &ret) const override;
 
-    void setTakeoffExpected(bool val);
-    void setTouchdownExpected(bool val);
-
     bool getGpsGlitchStatus() const;
 
     // return the index of the airspeed we should use for airspeed measurements
@@ -388,8 +385,7 @@ private:
         True = 1,
         UNKNOWN = 3,
     };
-    TriState touchdownExpectedState = TriState::UNKNOWN;
-    TriState takeoffExpectedState = TriState::UNKNOWN;
+
     TriState terrainHgtStableState = TriState::UNKNOWN;
 
     EKFType last_active_ekf_type;