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| author | Julian Oes <julian@oes.ch> | 2013-06-15 19:41:54 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-15 19:41:54 +0200 |
| commit | 9f5565de3221718ba12800a54ca1a0c06b7491ef (patch) | |
| tree | 7cda3831fabd567a97b140207edef793a24e9250 /src/modules/uORB/topics/vehicle_control_mode.h | |
| parent | e556649f2ff6922a7a3b7751b68cdedd0d6254aa (diff) | |
| download | px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.tar.gz px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.tar.bz2 px4-firmware-9f5565de3221718ba12800a54ca1a0c06b7491ef.zip | |
Controllers should not access state machine anymore but access the vehicle_control_mode flags
Diffstat (limited to 'src/modules/uORB/topics/vehicle_control_mode.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 9 |
1 files changed, 2 insertions, 7 deletions
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index eb35d0884..177e30898 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -61,16 +61,11 @@ */ struct vehicle_control_mode_s { - /* use of a counter and timestamp recommended (but not necessary) */ - 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 */ bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ - bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ - bool flag_armed; /**< true is motors / actuators are armed */ - bool flag_safety_off; /**< true if safety is off */ bool flag_system_emergency; bool flag_preflight_calibration; @@ -83,7 +78,7 @@ struct vehicle_control_mode_s bool flag_control_position_enabled; /**< true if position is controlled */ bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ - bool failsave_highlevel; + bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */ }; /** @@ -91,6 +86,6 @@ struct vehicle_control_mode_s */ /* register this as object request broker structure */ -ORB_DECLARE(vehicle_status); +ORB_DECLARE(vehicle_control_mode); #endif |