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517eeaed05
* fix(land_detector): latch rotational_movement between publications * fix(land_detector): latch all purely diagnostic flags such that we don't have to publish on every change e.g. every movement threshold corssing but still see the least land detection friendly state per publish period. --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
21 lines
1.5 KiB
Plaintext
21 lines
1.5 KiB
Plaintext
uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool freefall # true if vehicle is currently in free-fall
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bool ground_contact # true if vehicle has ground contact but is not landed (1. stage)
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bool maybe_landed # true if the vehicle might have landed (2. stage)
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bool landed # true if vehicle is currently landed on the ground (3. stage)
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bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
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# Flags in this paragraph are for diagnostic logging only
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bool in_descend # true only if commanded to descend faster than 1.1 * LNDMC_Z_VEL_MAX for every update since the previous publication
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bool has_low_throttle # true only if throttle was at or below the low-throttle threshold for every update since the previous publication
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bool vertical_movement # false only if vertical velocity stayed below LNDMC_Z_VEL_MAX for every update since the previous publication
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bool horizontal_movement # false only if horizontal velocity stayed below LNDMC_XY_VEL_MAX for every update since the previous publication
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bool rotational_movement # false only if roll/pitch rate stayed below LNDMC_ROT_MAX for every update since the previous publication
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bool close_to_ground_or_skipped_check # true only if close to the ground, or the check was skipped (no distance sensor), for every update since the previous publication
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bool at_rest
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