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VTOL land detector: trigger land detector in fixed-wing mode if disarmed. 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2019-08-22 15:41:51 +02:00 committed by Roman Bapst
parent a8fbe6bba2
commit 1b2403a87f
1 changed files with 4 additions and 4 deletions
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8
src/modules/land_detector/VtolLandDetector.cpp
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@ -59,9 +59,9 @@ void VtolLandDetector::_update_topics()
bool VtolLandDetector::_get_maybe_landed_state()
{
// Only trigger in RW mode
// If in Fixed-wing mode, only trigger if disarmed
if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return false;
return !_actuator_armed.armed;
}
return MulticopterLandDetector::_get_maybe_landed_state();
@ -69,9 +69,9 @@ bool VtolLandDetector::_get_maybe_landed_state()
bool VtolLandDetector::_get_landed_state()
{
// Only trigger in RW mode
// If in Fixed-wing mode, only trigger if disarmed
if ((_vehicle_status.timestamp != 0) && _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return false;
return !_actuator_armed.armed;
}
// this is returned from the mutlicopter land detector