State machine rewritten, compiles, WIP

1 files changed, 29 insertions, 26 deletions

diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 9b91e834e..e7feaa98e 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -58,29 +58,28 @@
  * @addtogroup topics @{
  */
 
-/* State Machine */
+/* main state machine */
 typedef enum {
-	NAVIGATION_STATE_INIT = 0,
-	NAVIGATION_STATE_MANUAL_STANDBY,
-	NAVIGATION_STATE_MANUAL,
-	NAVIGATION_STATE_ASSISTED_STANDBY,
-	NAVIGATION_STATE_ASSISTED_SEATBELT,
-	NAVIGATION_STATE_ASSISTED_SIMPLE,
-	NAVIGATION_STATE_ASSISTED_DESCENT,
-	NAVIGATION_STATE_AUTO_STANDBY,
-	NAVIGATION_STATE_AUTO_READY,
-	NAVIGATION_STATE_AUTO_TAKEOFF,
-	NAVIGATION_STATE_AUTO_LOITER,
-	NAVIGATION_STATE_AUTO_MISSION,
-	NAVIGATION_STATE_AUTO_RTL,
-	NAVIGATION_STATE_AUTO_LAND
-} navigation_state_t;
+	MAIN_STATE_MANUAL = 0,
+	MAIN_STATE_SEATBELT,
+	MAIN_STATE_EASY,
+	MAIN_STATE_AUTO,
+} main_state_t;
 
+/* navigation state machine */
 typedef enum {
-	MANUAL_STANDBY = 0,
-	MANUAL_READY,
-	MANUAL_IN_AIR
-} manual_state_t;
+	NAVIGATION_STATE_STANDBY = 0,		// standby state, disarmed
+	NAVIGATION_STATE_DIRECT,		// 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,
@@ -104,16 +103,16 @@ typedef enum {
 } mode_switch_pos_t;
 
 typedef enum {
+	ASSISTED_SWITCH_SEATBELT = 0,
+	ASSISTED_SWITCH_EASY
+} assisted_switch_pos_t;
+
+typedef enum {
 	RETURN_SWITCH_NONE = 0,
 	RETURN_SWITCH_RETURN
 } return_switch_pos_t;
 
 typedef enum {
-	ASSISTED_SWITCH_SEATBELT = 0,
-	ASSISTED_SWITCH_SIMPLE
-} assisted_switch_pos_t;
-
-typedef enum {
 	MISSION_SWITCH_NONE = 0,
 	MISSION_SWITCH_MISSION
 } mission_switch_pos_t;
@@ -175,7 +174,8 @@ struct vehicle_status_s
 	uint64_t failsave_lowlevel_start_time;		/**< time when the lowlevel failsafe flag was set */
 //	uint64_t failsave_highlevel_begin; TO BE COMPLETED
 
-	navigation_state_t navigation_state;	/**< current system state */
+	main_state_t main_state;				/**< main state machine */
+	navigation_state_t navigation_state;	/**< navigation state machine */
 	arming_state_t arming_state;			/**< current arming state */
 	hil_state_t hil_state;					/**< current hil state */
 
@@ -183,6 +183,8 @@ struct vehicle_status_s
 	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 */
 
+	bool is_rotary_wing;
+
 	mode_switch_pos_t mode_switch;
 	return_switch_pos_t return_switch;
 	assisted_switch_pos_t assisted_switch;
@@ -198,6 +200,7 @@ struct vehicle_status_s
 	bool condition_home_position_valid;		/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool condition_local_position_valid;
 	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
+	bool condition_landed;					/**< true if vehicle is landed, always true if disarmed */
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception is terminally lost */