Copter: Add a function to retrieve the LANDED_STATE

muramura · Jun 3, 2024 · 9cbc234 · 9cbc234
1 parent eec7876
commit 9cbc234
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Showing 3 changed files with 24 additions and 11 deletions.
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -445,7 +445,6 @@ bool Copter::has_ekf_failsafed() const
 {
     return failsafe.ekf;
 }
-
 #endif // AP_SCRIPTING_ENABLED
 
 // returns true if vehicle is landing. Only used by Lua scripts
@@ -460,6 +459,28 @@ bool Copter::is_taking_off() const
     return flightmode->is_taking_off();
 }
 
+/**
+ * Get landed detector states.
+ * 
+ * @retval 1 landed (on ground) 
+ * @retval 2 in air
+ * @retval 3 currently taking off
+ * @retval 4 currently landing
+*/
+uint8_t Copter::get_landed_state() const
+{
+    if (ap.land_complete) {
+        return uint8_t(MAV_LANDED_STATE_ON_GROUND);
+    }
+    if (flightmode->is_landing()) {
+        return uint8_t(MAV_LANDED_STATE_LANDING);
+    }
+    if (flightmode->is_taking_off()) {
+        return uint8_t(MAV_LANDED_STATE_TAKEOFF);
+    }
+    return uint8_t(MAV_LANDED_STATE_IN_AIR);
+}
+
 bool Copter::current_mode_requires_mission() const
 {
 #if MODE_AUTO_ENABLED == ENABLED

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -689,6 +689,7 @@ class Copter : public AP_Vehicle {
 #endif // AP_SCRIPTING_ENABLED
     bool is_landing() const override;
     bool is_taking_off() const override;
+    uint8_t get_landed_state() const override;
     void rc_loop();
     void throttle_loop();
     void update_batt_compass(void);

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -1549,16 +1549,7 @@ uint64_t GCS_MAVLINK_Copter::capabilities() const
 
 MAV_LANDED_STATE GCS_MAVLINK_Copter::landed_state() const
 {
-    if (copter.ap.land_complete) {
-        return MAV_LANDED_STATE_ON_GROUND;
-    }
-    if (copter.flightmode->is_landing()) {
-        return MAV_LANDED_STATE_LANDING;
-    }
-    if (copter.flightmode->is_taking_off()) {
-        return MAV_LANDED_STATE_TAKEOFF;
-    }
-    return MAV_LANDED_STATE_IN_AIR;
+    return MAV_LANDED_STATE(copter.get_landed_state());
 }
 
 void GCS_MAVLINK_Copter::send_wind() const