apply review suggestions

px4_ros2_cpp/CMakeLists.txt

@@ -80,11 +80,6 @@ add_library(px4_ros2_cpp
         src/odometry/angular_velocity.cpp
         src/utils/geodesic.cpp
         src/utils/map_projection_impl.cpp
-        src/vehicle_state/battery.cpp
-        src/vehicle_state/home_position.cpp
-        src/vehicle_state/land_detected.cpp
-        src/vehicle_state/vehicle_status.cpp
-        src/vehicle_state/vtol_status.cpp
 )
 ament_target_dependencies(px4_ros2_cpp ament_index_cpp Eigen3 rclcpp px4_msgs)
 

px4_ros2_cpp/include/px4_ros2/vehicle_state/battery.hpp

@@ -24,7 +24,8 @@ namespace px4_ros2
 class Battery : public Subscription<px4_msgs::msg::BatteryStatus>
 {
 public:
-  explicit Battery(Context & context);
+  explicit Battery(Context & context)
+  : Subscription<px4_msgs::msg::BatteryStatus>(context, "fmu/out/battery_status") {}
 
   /**
    * @brief Get the vehicle's battery voltage.

px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position.hpp

@@ -24,7 +24,8 @@ namespace px4_ros2
 class HomePosition : public Subscription<px4_msgs::msg::HomePosition>
 {
 public:
-  explicit HomePosition(Context & context);
+  explicit HomePosition(Context & context)
+  : Subscription<px4_msgs::msg::HomePosition>(context, "fmu/out/home_position") {}
 
   /**
    * @brief Get the vehicle's home position in local coordinates.

px4_ros2_cpp/include/px4_ros2/vehicle_state/land_detected.hpp

@@ -23,50 +23,17 @@ namespace px4_ros2
 class LandDetected : public Subscription<px4_msgs::msg::VehicleLandDetected>
 {
 public:
-  explicit LandDetected(Context & context);
+  explicit LandDetected(Context & context)
+  : Subscription<px4_msgs::msg::VehicleLandDetected>(context, "fmu/out/vehicle_land_detected") {}
 
   /**
-   * @brief Check if vehicle has made ground contact, but is not landed (stage 1).
-   *
-   * @return true if ground contact, false otherwise
-   */
-  bool groundContact() const
-  {
-    const px4_msgs::msg::VehicleLandDetected & land_detected = last();
-    return land_detected.ground_contact;
-  }
-
-  /**
-   * @brief Check if vehicle has maybe landed (stage 2).
-   *
-   * @return true if maybe landed, false otherwise
-   */
-  bool maybeLanded() const
-  {
-    const px4_msgs::msg::VehicleLandDetected & land_detected = last();
-    return land_detected.maybe_landed;
-  }
-
-  /**
-   * @brief Check if vehicle is landed on the ground (stage 3).
+   * @brief Check if vehicle is landed on the ground.
    *
    * @return true if landed, false otherwise
    */
   bool landed() const
   {
-    const px4_msgs::msg::VehicleLandDetected & land_detected = last();
-    return land_detected.landed;
-  }
-
-  /**
-   * @brief Check if vehicle is descending.
-   *
-   * @return true if descending, false otherwise
-   */
-  bool inDescend() const
-  {
-    const px4_msgs::msg::VehicleLandDetected & land_detected = last();
-    return land_detected.in_descend;
+    return last().landed;
   }
 
 };

px4_ros2_cpp/include/px4_ros2/vehicle_state/vehicle_status.hpp

@@ -23,7 +23,8 @@ namespace px4_ros2
 class VehicleStatus : public Subscription<px4_msgs::msg::VehicleStatus>
 {
 public:
-  explicit VehicleStatus(Context & context);
+  explicit VehicleStatus(Context & context)
+  : Subscription<px4_msgs::msg::VehicleStatus>(context, "fmu/out/vehicle_status") {}
 
   /**
    * @brief Get the vehicle's arming status.
@@ -39,6 +40,7 @@ class VehicleStatus : public Subscription<px4_msgs::msg::VehicleStatus>
    * @brief Get the vehicle's current active flight mode.
    *
    * @return the int value describing the mode
+   * @see navigation state values: https://github.com/PX4/PX4-Autopilot/blob/v1.15.0/msg/VehicleStatus.msg#L34-L65
   */
   uint8_t navState() const
   {

px4_ros2_cpp/include/px4_ros2/vehicle_state/vtol_status.hpp

@@ -23,10 +23,11 @@ namespace px4_ros2
 class VtolStatus : public Subscription<px4_msgs::msg::VtolVehicleStatus>
 {
 public:
-  explicit VtolStatus(Context & context);
+  explicit VtolStatus(Context & context)
+  : Subscription<px4_msgs::msg::VtolVehicleStatus>(context, "fmu/out/vtol_vehicle_status") {}
 
   /**
-   * @brief Check if VTOL is in an undefined state.
+   * @brief Check if vehicle is in an undefined state. This indicates the vehicle is not a VTOL.
    *
    * @return true if undefined state, false otherwise.
   */