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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 12:16:49 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 12:16:49 +0400 |
| commit | 7e29028429fce33b88dd1eeb6d3ac89aa5cb5891 (patch) | |
| tree | d230c7392fa457227c35dc4e80720e3d5ac44d32 /src/modules/uORB/topics/vehicle_status.h | |
| parent | 72d9c80ce954d2289282f5df01aef7e5e8914acc (diff) | |
| download | px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.tar.gz px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.tar.bz2 px4-firmware-7e29028429fce33b88dd1eeb6d3ac89aa5cb5891.zip | |
Moving nav state from commander to navigator, WIP
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 18 |
1 files changed, 2 insertions, 16 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 1c3763924..ae3a24a1b 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -66,20 +66,6 @@ typedef enum { MAIN_STATE_AUTO, } main_state_t; -/* navigation state machine */ -typedef enum { - NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization - NAVIGATION_STATE_STABILIZE, // attitude stabilization - NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization - NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization - NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff - NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode - NAVIGATION_STATE_AUTO_LOITER, // pause mission - NAVIGATION_STATE_AUTO_MISSION, // fly mission - NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND - NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) -} navigation_state_t; - typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -95,7 +81,6 @@ typedef enum { HIL_STATE_ON } hil_state_t; - typedef enum { FLIGHTTERMINATION_STATE_OFF = 0, FLIGHTTERMINATION_STATE_ON @@ -182,7 +167,8 @@ struct vehicle_status_s uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ main_state_t main_state; /**< main state machine */ - navigation_state_t navigation_state; /**< navigation state machine */ + unsigned int set_nav_state; /**< set navigation state machine to specified value */ + 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 */ |