airborne_detector.h

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/***********************************************************************/
#ifndef NAV_ALGORITHMS_AIRBORNE_DETECTOR_H_
#define NAV_ALGORITHMS_AIRBORNE_DETECTOR_H_
 
class airborne_detector_t
{
public:
  airborne_detector_t( void)
  : just_landed( false),
    airborne_counter( 0)
  {}
  void report_to_be_airborne( bool yes)
  {
    if( yes)
      {
    if( airborne_counter < LEVEL)
      ++ airborne_counter;
      }
    else
      {
      if( airborne_counter > 0)
    {
      --airborne_counter;
      if( airborne_counter == 0)
          just_landed = true;
    }
      }
  }
    bool detect_just_landed( void)
    {
      if( just_landed)
    {
      just_landed = false;
      airborne_counter=0;
      return true;
    }
      return false;
    }
private:
  enum { LEVEL = 200}; // 20s @ 10Hz
  bool just_landed;
  unsigned airborne_counter;
};
 
#endif /* NAV_ALGORITHMS_AIRBORNE_DETECTOR_H_ */