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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-13 18:53:37 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-13 18:53:37 +0200 |
| commit | 9014577aff02233e890d1f8eefc06471fca8b6d2 (patch) | |
| tree | bd589542e278bad3e4978d2098587ffc76c29681 /apps/uORB/topics/vehicle_status.h | |
| parent | 56b3b46f75c0b434932eecba2ac7207f84e2342e (diff) | |
| download | px4-firmware-9014577aff02233e890d1f8eefc06471fca8b6d2.tar.gz px4-firmware-9014577aff02233e890d1f8eefc06471fca8b6d2.tar.bz2 px4-firmware-9014577aff02233e890d1f8eefc06471fca8b6d2.zip | |
Massive improvements in state machine, still tracing wrong throttle scaling in manual input path
Diffstat (limited to 'apps/uORB/topics/vehicle_status.h')
| -rw-r--r-- | apps/uORB/topics/vehicle_status.h | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 9f72c8f78..8b2b6525c 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -86,6 +86,12 @@ enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ +enum VEHICLE_FLIGHT_MODE { + VEHICLE_FLIGHT_MODE_MANUAL, + VEHICLE_FLIGHT_MODE_STABILIZED, + VEHICLE_FLIGHT_MODE_AUTO +}; + /** * state machine / state of vehicle. * @@ -98,7 +104,9 @@ 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 */ - commander_state_machine_t state_machine; + 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 */ + uint8_t mode; bool control_manual_enabled; /**< true if manual input is mixed in */ |