AP_DAL: add takeoff and touchdown expected state

libraries/AP_DAL/AP_DAL.cpp

@@ -62,6 +62,8 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _RFRN.EAS2TAS = AP::baro().get_EAS2TAS();
     _RFRN.vehicle_class = ahrs.get_vehicle_class();
     _RFRN.fly_forward = ahrs.get_fly_forward();
+    _RFRN.takeoff_expected = ahrs.get_takeoff_expected();
+    _RFRN.touchdown_expected = ahrs.get_touchdown_expected();
     _RFRN.ahrs_airspeed_sensor_enabled = AP::ahrs().airspeed_sensor_enabled();
     _RFRN.available_memory = hal.util->available_memory();
     _RFRN.ahrs_trim = ahrs.get_trim();
@@ -99,6 +101,15 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
 #endif
 }
 
+// for EKF usage to enable takeoff expected to true
+void AP_DAL::set_takeoff_expected()
+{
+#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
+    AP_AHRS &ahrs = AP::ahrs();
+    ahrs.set_takeoff_expected(true);
+#endif
+}
+
 /*
   setup optional sensor backends
  */

libraries/AP_DAL/AP_DAL.h

@@ -37,10 +37,10 @@ public:
         resetGyroBias             =  0,
         resetHeightDatum          =  1,
         //setInhibitGPS           =  2, // removed
-        setTakeoffExpected        =  3,
-        unsetTakeoffExpected      =  4,
-        setTouchdownExpected      =  5,
-        unsetTouchdownExpected    =  6,
+        //setTakeoffExpected        =  3, // removed
+        //unsetTakeoffExpected      =  4, // removed
+        //setTouchdownExpected      =  5, // removed
+        //unsetTouchdownExpected    =  6, // removed
         //setInhibitGpsVertVelUse   =  7, // removed
         //unsetInhibitGpsVertVelUse =  8, // removed
         setTerrainHgtStable       =  9,
@@ -173,6 +173,17 @@ public:
         return _RFRN.fly_forward;
     }
 
+    bool get_takeoff_expected(void) const {
+        return _RFRN.takeoff_expected;
+    }
+
+    bool get_touchdown_expected(void) const {
+        return _RFRN.touchdown_expected;
+    }
+
+    // for EKF usage to enable takeoff expected to true
+    void set_takeoff_expected();
+
     // get ahrs trim
     const Vector3f &get_trim() const {
         return _RFRN.ahrs_trim;

libraries/AP_DAL/LogStructure.h

@@ -67,6 +67,8 @@ struct log_RFRN {
     uint8_t ahrs_airspeed_sensor_enabled:1;
     uint8_t opticalflow_enabled:1;
     uint8_t wheelencoder_enabled:1;
+    uint8_t takeoff_expected:1;
+    uint8_t touchdown_expected:1;
     uint8_t _end;
 };