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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 12:55:41 +0200 |
commit | 082074f99196f8c936e21740a84b6738cb87875e (patch) | |
tree | 92863b8532541d9dcfc8a160a7f659c5e1475b35 /apps/uORB/topics/vehicle_status.h | |
parent | 572efc3383c6c98769efc65806a6d2e596787c4d (diff) | |
download | px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.gz px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.tar.bz2 px4-firmware-082074f99196f8c936e21740a84b6738cb87875e.zip |
Completely implemented offboard control
Diffstat (limited to 'apps/uORB/topics/vehicle_status.h')
-rw-r--r-- | apps/uORB/topics/vehicle_status.h | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 850029f01..c727527b1 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -110,6 +110,8 @@ struct vehicle_status_s 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 */ + uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */ + //uint64_t failsave_highlevel_begin; TO BE COMPLETED 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 */ @@ -134,10 +136,18 @@ struct vehicle_status_s bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ bool flag_preflight_accel_calibration; + bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception is terminally lost */ bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */ uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */ + bool offboard_control_signal_found_once; + bool offboard_control_signal_lost; + uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ + + bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ + //bool failsave_highlevel; + /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; uint32_t onboard_control_sensors_enabled; |