AP_AHRS: move takeoff/touchdown flags to frontend

libraries/AP_AHRS/AP_AHRS.cpp

@@ -305,6 +305,9 @@ void AP_AHRS::update(bool skip_ins_update)
 
     update_DCM(skip_ins_update);
 
+    // update takeoff/touchdown flags
+    update_flags();
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     update_SITL();
 #endif

libraries/AP_AHRS/AP_AHRS.h

@@ -385,6 +385,22 @@ public:
 
     void Log_Write_Home_And_Origin();
 
+    /*
+     * AHRS is used as a transport for vehicle-takeoff-expected and
+     * vehicle-landing-expected:
+     */
+    void set_takeoff_expected(bool b);
+
+    bool get_takeoff_expected(void) const {
+        return takeoff_expected;
+    }
+
+    void set_touchdown_expected(bool b);
+
+    bool get_touchdown_expected(void) const {
+        return touchdown_expected;
+    }
+
 protected:
     // optional view class
     AP_AHRS_View *_view;
@@ -498,6 +514,17 @@ private:
     // frame to autopilot body frame from _trim variables
     void update_trim_rotation_matrices();
 
+    /*
+     * AHRS is used as a transport for vehicle-takeoff-expected and
+     * vehicle-landing-expected:
+     */
+    // update takeoff/touchdown flags
+    void update_flags();
+    bool takeoff_expected;    // true if the vehicle is in a state that takeoff might be expected.  Ground effect may be in play.
+    uint32_t takeoff_expected_start_ms;
+    bool touchdown_expected;    // true if the vehicle is in a state that touchdown might be expected.  Ground effect may be in play.
+    uint32_t touchdown_expected_start_ms;
+
 #if HAL_NMEA_OUTPUT_ENABLED
     class AP_NMEA_Output* _nmea_out;
 #endif

libraries/AP_AHRS/AP_AHRS_Backend.cpp

@@ -325,28 +325,28 @@ Vector3f AP_AHRS_Backend::get_vibration(void) const
     return AP::ins().get_vibration_levels();
 }
 
-void AP_AHRS_Backend::set_takeoff_expected(bool b)
+void AP_AHRS::set_takeoff_expected(bool b)
 {
-    _flags.takeoff_expected = b;
+    takeoff_expected = b;
     takeoff_expected_start_ms = AP_HAL::millis();
 }
 
-void AP_AHRS_Backend::set_touchdown_expected(bool b)
+void AP_AHRS::set_touchdown_expected(bool b)
 {
-    _flags.touchdown_expected = b;
+    touchdown_expected = b;
     touchdown_expected_start_ms = AP_HAL::millis();
 }
 
 /*
   update takeoff/touchdown flags
  */
-void AP_AHRS_Backend::update_flags(void)
+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 (takeoff_expected && AP_HAL::millis() - takeoff_expected_start_ms > timeout_ms) {
+        takeoff_expected = false;
     }
-    if (_flags.touchdown_expected && AP_HAL::millis() - touchdown_expected_start_ms > timeout_ms) {
-        _flags.touchdown_expected = false;
+    if (touchdown_expected && AP_HAL::millis() - touchdown_expected_start_ms > timeout_ms) {
+        touchdown_expected = false;
     }
 }

libraries/AP_AHRS/AP_AHRS_Backend.h

@@ -67,18 +67,6 @@ 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;
     }
@@ -537,8 +525,6 @@ 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
@@ -553,9 +539,6 @@ protected:
     // update roll_sensor, pitch_sensor and yaw_sensor
     void update_cd_values(void);
 
-    // update takeoff/touchdown flags
-    void update_flags();
-
     // accelerometer values in the earth frame in m/s/s
     Vector3f        _accel_ef[INS_MAX_INSTANCES];
     Vector3f        _accel_ef_blended;
@@ -576,9 +559,4 @@ protected:
 
     // which accelerometer instance is active
     uint8_t _active_accel_instance;
-
-private:
-
-    uint32_t takeoff_expected_start_ms;
-    uint32_t touchdown_expected_start_ms;
 };

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -108,9 +108,6 @@ AP_AHRS_DCM::update(bool skip_ins_update)
     update_trig();
 
     backup_attitude();
-
-    // update takeoff/touchdown flags
-    update_flags();
 }
 
 /*