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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 09:54:11 +0200 |
commit | 13fc6703862862f4263d8d5d085b7a16b87190e1 (patch) | |
tree | 47f3a17cb6f38b1aafe22e1cdef085cd73cd3a1d /src/modules/uORB/topics/vehicle_status.h | |
parent | f57439b90e23de260259dec051d3e2ead2d61c8c (diff) | |
download | px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.gz px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.tar.bz2 px4-firmware-13fc6703862862f4263d8d5d085b7a16b87190e1.zip |
Moved last libs, drivers and headers, cleaned up IO build
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 226 |
1 files changed, 226 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h new file mode 100644 index 000000000..c7c1048f6 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_status.h @@ -0,0 +1,226 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vehicle_status.h + * Definition of the vehicle_status uORB topic. + * + * Published the state machine and the system status bitfields + * (see SYS_STATUS mavlink message), published only by commander app. + * + * All apps should write to subsystem_info: + * + * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) + */ + +#ifndef VEHICLE_STATUS_H_ +#define VEHICLE_STATUS_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics @{ + */ + +/* State Machine */ +typedef enum +{ + SYSTEM_STATE_PREFLIGHT = 0, + SYSTEM_STATE_STANDBY = 1, + SYSTEM_STATE_GROUND_READY = 2, + SYSTEM_STATE_MANUAL = 3, + SYSTEM_STATE_STABILIZED = 4, + SYSTEM_STATE_AUTO = 5, + SYSTEM_STATE_MISSION_ABORT = 6, + SYSTEM_STATE_EMCY_LANDING = 7, + SYSTEM_STATE_EMCY_CUTOFF = 8, + SYSTEM_STATE_GROUND_ERROR = 9, + SYSTEM_STATE_REBOOT= 10, + +} commander_state_machine_t; + +enum VEHICLE_MODE_FLAG { + VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, + VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, + VEHICLE_MODE_FLAG_HIL_ENABLED = 32, + VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16, + VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, + VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, + VEHICLE_MODE_FLAG_TEST_ENABLED = 2, + 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 = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */ + VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */ + VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */ + VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ +}; + +enum VEHICLE_MANUAL_CONTROL_MODE { + VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */ + VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */ + VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */ +}; + +enum VEHICLE_MANUAL_SAS_MODE { + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */ + VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */ + VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */ + VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */ +}; + +/** + * Should match 1:1 MAVLink's MAV_TYPE ENUM + */ +enum VEHICLE_TYPE { + VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ + VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ + VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */ + VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */ + VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ + VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ + VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */ + VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */ + VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ + VEHICLE_TYPE_ROCKET=9, /* Rocket | */ + VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */ + VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ + VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */ + VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */ + VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */ + VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */ + VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */ + VEHICLE_TYPE_KITE=17, /* Kite | */ + VEHICLE_TYPE_ENUM_END=18, /* | */ +}; + +enum VEHICLE_BATTERY_WARNING { + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */ + VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */ +}; + + +/** + * state machine / state of vehicle. + * + * Encodes the complete system state and is set by the commander app. + */ +struct vehicle_status_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 */ + uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */ + //uint64_t failsave_highlevel_begin; TO BE COMPLETED + + 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_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ + enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */ + 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 */ + int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */ + + /* system flags - these represent the state predicates */ + + bool flag_system_armed; /**< true is motors / actuators are armed */ + 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_hil_enabled; /**< true if hardware in the loop simulation is enabled */ + + 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 speed (implies direction) is controlled */ + bool flag_control_position_enabled; /**< true if position is controlled */ + + bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ + bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ + bool flag_preflight_accel_calibration; + bool flag_preflight_airspeed_calibration; + + bool rc_signal_found_once; + bool rc_signal_lost; /**< true if RC reception is terminally lost */ + bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */ + uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */ + + bool offboard_control_signal_found_once; + bool offboard_control_signal_lost; + bool offboard_control_signal_weak; + uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ + + bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ + //bool failsave_highlevel; + + /* see SYS_STATUS mavlink message for the following */ + uint32_t onboard_control_sensors_present; + uint32_t onboard_control_sensors_enabled; + uint32_t onboard_control_sensors_health; + float load; + float voltage_battery; + float current_battery; + float battery_remaining; + enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ + uint16_t drop_rate_comm; + uint16_t errors_comm; + uint16_t errors_count1; + uint16_t errors_count2; + uint16_t errors_count3; + uint16_t errors_count4; + + 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_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */ + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ + bool flag_valid_launch_position; /**< indicates a valid launch position */ + bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */ + bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_status); + +#endif |