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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-29 21:21:16 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-29 21:27:44 +0100 |
| commit | cf6d89301b774ae019d1d2c089a30a8ed0d7308f (patch) | |
| tree | 7e56739c95dedf53cfb0bae88e6ba65c88b661c8 /src/modules/uORB/topics/vehicle_status.h | |
| parent | 01c9092213449c761759bcda11ef9613226be713 (diff) | |
| parent | 6f559b279e3d03dbf28eff436b41f3b022c5fa82 (diff) | |
| download | px4-firmware-cf6d89301b774ae019d1d2c089a30a8ed0d7308f.tar.gz px4-firmware-cf6d89301b774ae019d1d2c089a30a8ed0d7308f.tar.bz2 px4-firmware-cf6d89301b774ae019d1d2c089a30a8ed0d7308f.zip | |
Merge branch 'beta' into offboard2
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 18 |
1 files changed, 12 insertions, 6 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index d74b696bb..4aea1b083 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -54,6 +54,8 @@ #include <stdbool.h> #include "../uORB.h" +#include <navigator/navigator_state.h> + /** * @addtogroup topics @{ */ @@ -65,6 +67,7 @@ typedef enum { MAIN_STATE_EASY, MAIN_STATE_AUTO, MAIN_STATE_OFFBOARD, + MAIN_STATE_MAX } main_state_t; typedef enum { @@ -74,7 +77,8 @@ typedef enum { ARMING_STATE_ARMED_ERROR, ARMING_STATE_STANDBY_ERROR, ARMING_STATE_REBOOT, - ARMING_STATE_IN_AIR_RESTORE + ARMING_STATE_IN_AIR_RESTORE, + ARMING_STATE_MAX } arming_state_t; typedef enum { @@ -83,9 +87,12 @@ typedef enum { } hil_state_t; typedef enum { - FLIGHTTERMINATION_STATE_OFF = 0, - FLIGHTTERMINATION_STATE_ON -} flighttermination_state_t; + FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */ + FAILSAFE_STATE_RTL, /**< Return To Launch */ + FAILSAFE_STATE_LAND, /**< Land without position control */ + FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */ + FAILSAFE_STATE_MAX +} failsafe_state_t; typedef enum { MODE_SWITCH_MANUAL = 0, @@ -180,6 +187,7 @@ struct vehicle_status_s uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ + failsafe_state_t failsafe_state; /**< current failsafe state */ int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ @@ -231,8 +239,6 @@ struct vehicle_status_s uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; - - flighttermination_state_t flighttermination_state; }; /** |