Merged beta into paul_estimator

1 files changed, 18 insertions, 16 deletions

diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 65980233e..56be4d241 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 @{
  */
@@ -64,22 +66,9 @@ typedef enum {
 	MAIN_STATE_SEATBELT,
 	MAIN_STATE_EASY,
 	MAIN_STATE_AUTO,
+	MAIN_STATE_MAX
 } 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,
@@ -87,7 +76,8 @@ 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 {
@@ -96,6 +86,14 @@ typedef enum {
 } hil_state_t;
 
 typedef enum {
+	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,
 	MODE_SWITCH_ASSISTED,
 	MODE_SWITCH_AUTO
@@ -108,11 +106,13 @@ typedef enum {
 
 typedef enum {
 	RETURN_SWITCH_NONE = 0,
+	RETURN_SWITCH_NORMAL,
 	RETURN_SWITCH_RETURN
 } return_switch_pos_t;
 
 typedef enum {
 	MISSION_SWITCH_NONE = 0,
+	MISSION_SWITCH_LOITER,
 	MISSION_SWITCH_MISSION
 } mission_switch_pos_t;
 
@@ -175,9 +175,11 @@ 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 */
+	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 */