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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-27 18:27:08 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-27 18:27:08 +0100 |
commit | f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32 (patch) | |
tree | 9da695a79082b70360260c669f27ff8fa4470b35 /apps/uORB/topics/vehicle_status.h | |
parent | 61d7e1d28552ddd7652b1d1b888c51a2eae78967 (diff) | |
download | px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.tar.gz px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.tar.bz2 px4-firmware-f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32.zip |
Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up
Diffstat (limited to 'apps/uORB/topics/vehicle_status.h')
-rw-r--r-- | apps/uORB/topics/vehicle_status.h | 33 |
1 files changed, 19 insertions, 14 deletions
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 738ca644f..ed3fed1ab 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -87,16 +87,23 @@ enum VEHICLE_MODE_FLAG { }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ enum VEHICLE_FLIGHT_MODE { - VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */ - VEHICLE_FLIGHT_MODE_ATTITUDE, /**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */ - VEHICLE_FLIGHT_MODE_STABILIZED, /**< attitude or rate stabilization plus velocity or position stabilization */ - VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ + VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */ + VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */ + VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */ + VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ }; -enum VEHICLE_ATTITUDE_MODE { - VEHICLE_ATTITUDE_MODE_DIRECT, /**< no attitude control, direct stick input mixing (only fixed wing) */ - VEHICLE_ATTITUDE_MODE_RATES, /**< body rates control mode */ - VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */ +enum VEHICLE_MANUAL_CONTROL_MODE { + VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */ + VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */ + VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */ +}; + +enum VEHICLE_MANUAL_SAS_MODE { + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */ + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */ + VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */ + VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */ }; /** @@ -115,12 +122,10 @@ struct vehicle_status_s commander_state_machine_t state_machine; /**< current flight state, main state machine */ enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */ - enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ + enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ + enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */ int32_t system_type; /**< system type, inspired by MAVLinks MAV_TYPE enum */ - // uint8_t mode; - - /* system flags - these represent the state predicates */ bool flag_system_armed; /**< true is motors / actuators are armed */ @@ -165,11 +170,11 @@ struct vehicle_status_s uint16_t errors_count3; uint16_t errors_count4; -// bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */ bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ bool flag_local_position_valid; bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */ - bool flag_external_manual_override_ok; + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ + bool flag_valid_launch_position; /**< indicates a valid launch position */ }; /** |