diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 00:50:38 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 00:50:38 +0200 |
commit | 154f14e7476780799108e16bc3c296f0ade85f7b (patch) | |
tree | d5820f728a7884f3d7da78f17547edd8688b3036 /src/modules/uORB/topics/vehicle_status.h | |
parent | 0fe8ed509ad2d45a16eba1fe2683f586e530ee02 (diff) | |
parent | 28a31708f98eefa4ceb04617f2da3dd7892c99fa (diff) | |
download | px4-firmware-154f14e7476780799108e16bc3c296f0ade85f7b.tar.gz px4-firmware-154f14e7476780799108e16bc3c296f0ade85f7b.tar.bz2 px4-firmware-154f14e7476780799108e16bc3c296f0ade85f7b.zip |
Merged master into power_enforce
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 58 |
1 files changed, 36 insertions, 22 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 85962883d..56590047f 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * 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> + * Copyright (C) 2012 - 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -45,6 +41,11 @@ * All apps should write to subsystem_info: * * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) + * + * @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 <julian@oes.ch> */ #ifndef VEHICLE_STATUS_H_ @@ -54,20 +55,22 @@ #include <stdbool.h> #include "../uORB.h" -#include <navigator/navigator_state.h> - /** * @addtogroup topics @{ */ -/* main state machine */ +/** + * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. + */ typedef enum { MAIN_STATE_MANUAL = 0, MAIN_STATE_ALTCTL, MAIN_STATE_POSCTL, - MAIN_STATE_AUTO, + MAIN_STATE_AUTO_MISSION, + MAIN_STATE_AUTO_LOITER, + MAIN_STATE_AUTO_RTL, MAIN_STATE_ACRO, - MAIN_STATE_MAX + MAIN_STATE_MAX, } main_state_t; // If you change the order, add or remove arming_state_t states make sure to update the arrays @@ -80,7 +83,7 @@ typedef enum { ARMING_STATE_STANDBY_ERROR, ARMING_STATE_REBOOT, ARMING_STATE_IN_AIR_RESTORE, - ARMING_STATE_MAX + ARMING_STATE_MAX, } arming_state_t; typedef enum { @@ -88,13 +91,23 @@ typedef enum { HIL_STATE_ON } hil_state_t; +/** + * Navigation state, i.e. "what should vehicle do". + */ 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; + NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */ + NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */ + NAVIGATION_STATE_POSCTL, /**< Position control mode */ + NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ + NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ + NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */ + NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_ACRO, /**< Acro mode */ + NAVIGATION_STATE_LAND, /**< Land mode */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ + NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_MAX, +} navigation_state_t; enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, @@ -154,12 +167,11 @@ struct vehicle_status_s { 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 */ - main_state_t main_state; /**< main 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 */ + main_state_t main_state; /**< main state machine */ + navigation_state_t nav_state; /**< set navigation state machine to specified value */ arming_state_t arming_state; /**< current arming state */ - hil_state_t hil_state; /**< current hil state */ - failsafe_state_t failsafe_state; /**< current failsafe state */ + hil_state_t hil_state; /**< current hil state */ + bool failsafe; /**< true if system is in 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 */ @@ -186,6 +198,8 @@ struct vehicle_status_s { bool rc_signal_lost; /**< true if RC reception lost */ bool rc_input_blocked; /**< set if RC input should be ignored */ + bool data_link_lost; /**< datalink to GCS lost */ + bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; |