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/**
* @file vehicle_status.h
* Definition of the vehicle_status uORB topic.
*
* Published the state machine and the system status bitfields
* (see SYS_STATUS mavlink message), published only by commander app.
*
* All apps should write to subsystem_info:
*
* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#ifndef VEHICLE_STATUS_H_
#define VEHICLE_STATUS_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics @{
*/
/**
* Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
*/
typedef enum {
MAIN_STATE_MANUAL = 0,
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO_MISSION,
MAIN_STATE_AUTO_LOITER,
MAIN_STATE_AUTO_RTL,
MAIN_STATE_ACRO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX
} main_state_t;
// If you change the order, add or remove arming_state_t states make sure to update the arrays
// in state_machine_helper.cpp as well.
typedef enum {
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
ARMING_STATE_ARMED,
ARMING_STATE_ARMED_ERROR,
ARMING_STATE_STANDBY_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE,
ARMING_STATE_MAX,
} arming_state_t;
typedef enum {
HIL_STATE_OFF = 0,
HIL_STATE_ON
} hil_state_t;
/**
* Navigation state, i.e. "what should vehicle do".
*/
typedef enum {
NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */
NAVIGATION_STATE_POSCTL, /**< Position control mode */
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */
NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */
NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */
NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */
NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */
NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
NAVIGATION_STATE_OFFBOARD,
NAVIGATION_STATE_MAX,
} navigation_state_t;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
/**
* Should match 1:1 MAVLink's MAV_TYPE ENUM
*/
enum VEHICLE_TYPE {
VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
VEHICLE_TYPE_KITE = 17, /* Kite | */
VEHICLE_TYPE_ENUM_END = 18, /* | */
};
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */
VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */
};
/**
* @addtogroup topics
* @{
*/
/**
* state machine / state of vehicle.
*
* Encodes the complete system state and is set by the commander app.
*/
struct vehicle_status_s {
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
main_state_t main_state; /**< main state machine */
navigation_state_t nav_state; /**< set navigation state machine to specified value */
arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */
bool failsafe; /**< true if system is in failsafe state */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
bool is_rotary_wing;
bool condition_battery_voltage_valid;
bool condition_system_in_air_restore; /**< true if we can restore in mid air */
bool condition_system_sensors_initialized;
bool condition_system_returned_to_home;
bool condition_auto_mission_available;
bool condition_global_position_valid; /**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */
bool condition_launch_position_valid; /**< indicates a valid launch position */
bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */
bool condition_local_position_valid;
bool condition_local_altitude_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */
bool condition_power_input_valid; /**< set if input power is valid */
float avionics_power_rail_voltage; /**< voltage of the avionics power rail */
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception lost */
bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */
bool rc_input_blocked; /**< set if RC input should be ignored */
bool data_link_lost; /**< datalink to GCS lost */
bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */
uint8_t data_link_lost_counter; /**< counts unique data link lost events */
bool engine_failure; /** Set to true if an engine failure is detected */
bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */
bool gps_failure; /** Set to true if a gps failure is detected */
bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */
bool barometer_failure; /** Set to true if a barometer failure is detected */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
bool offboard_control_signal_weak;
uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;
uint32_t onboard_control_sensors_health;
float load; /**< processor load from 0 to 1 */
float battery_voltage;
float battery_current;
float battery_remaining;
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
uint16_t drop_rate_comm;
uint16_t errors_comm;
uint16_t errors_count1;
uint16_t errors_count2;
uint16_t errors_count3;
uint16_t errors_count4;
bool circuit_breaker_engaged_power_check;
bool circuit_breaker_engaged_airspd_check;
bool circuit_breaker_engaged_enginefailure_check;
bool circuit_breaker_engaged_gpsfailure_check;
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_status);
#endif
