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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-27 20:49:17 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-27 20:49:17 +0100 |
commit | d1508a7813ad09a173fe314608c25dc8c3cd7a1f (patch) | |
tree | d64626377328360b98c0d7229adb6600a9ef4308 /src/modules/uORB/topics/vehicle_control_mode.h | |
parent | 20108ed95d5bbae64bfcb95de5404fa97d9d0ac1 (diff) | |
download | px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.tar.gz px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.tar.bz2 px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.zip |
vehicle_control_mode publication moved to commander, WIP
Diffstat (limited to 'src/modules/uORB/topics/vehicle_control_mode.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 19 |
1 files changed, 3 insertions, 16 deletions
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 5aecac898..7cbb37cd8 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -61,23 +61,10 @@ * Encodes the complete system state and is set by the commander app. */ -typedef enum { - NAV_STATE_NONE = 0, - NAV_STATE_READY, - NAV_STATE_LOITER, - NAV_STATE_MISSION, - NAV_STATE_RTL, - NAV_STATE_LAND, - NAV_STATE_MAX -} nav_state_t; - struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - main_state_t main_state; - nav_state_t nav_state; - bool flag_armed; bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ @@ -86,14 +73,14 @@ struct vehicle_control_mode_s bool flag_system_hil_enabled; bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ - bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ - bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ + bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ }; /** |