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VTOL land detector: trigger land detector in fixed-wing mode if disarmed #12777

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merged 1 commit into from
Sep 10, 2019
Merged

VTOL land detector: trigger land detector in fixed-wing mode if disarmed #12777

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8 changes: 4 additions & 4 deletions src/modules/land_detector/VtolLandDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,19 +59,19 @@ 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();
}

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
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