Added required additional fields: If system is ok to launch (required for LED indicator), if system is ok to override fully by RC (required for multirotors which should not support this), desired PWM output rate in Hz (again required for some multirotors).

1 files changed, 5 insertions, 2 deletions

diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 23172d7cf..d69befe96 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -116,6 +116,7 @@ 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 */
+	int32_t system_type;				/**< system type, inspired by MAVLinks MAV_TYPE enum */
 
 	// uint8_t mode;
 
@@ -165,8 +166,10 @@ struct vehicle_status_s
 	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 gps_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_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;
 };
 
 /**