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author | Roman Bapst <romanbapst@yahoo.de> | 2014-11-10 17:16:30 +0100 |
---|---|---|
committer | Roman Bapst <romanbapst@yahoo.de> | 2014-11-10 17:16:30 +0100 |
commit | 31238516b537debd695f5cdf8e6c6e969907fe76 (patch) | |
tree | 8a1101258382a155832a2afa1141c27cbf061399 /src/modules/uORB/topics | |
parent | 43ebaf287c86acbf7fba13b5203de68afcc79b44 (diff) | |
parent | 4e8e6e653beb21808f532b83c6c6e827103ea379 (diff) | |
download | px4-firmware-31238516b537debd695f5cdf8e6c6e969907fe76.tar.gz px4-firmware-31238516b537debd695f5cdf8e6c6e969907fe76.tar.bz2 px4-firmware-31238516b537debd695f5cdf8e6c6e969907fe76.zip |
pulled from PX4 master
Diffstat (limited to 'src/modules/uORB/topics')
-rw-r--r-- | src/modules/uORB/topics/esc_status.h | 19 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission_result.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 201 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 7 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 10 | ||||
-rw-r--r-- | src/modules/uORB/topics/telemetry_status.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/test_motor.h | 70 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_command.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_gps_position.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 18 |
11 files changed, 315 insertions, 25 deletions
diff --git a/src/modules/uORB/topics/esc_status.h b/src/modules/uORB/topics/esc_status.h index 628824efa..b45c49788 100644 --- a/src/modules/uORB/topics/esc_status.h +++ b/src/modules/uORB/topics/esc_status.h @@ -78,6 +78,7 @@ enum ESC_CONNECTION_TYPE { /** * Electronic speed controller status. + * Unsupported float fields should be assigned NaN. */ struct esc_status_s { /* use of a counter and timestamp recommended (but not necessary) */ @@ -89,17 +90,17 @@ struct esc_status_s { enum ESC_CONNECTION_TYPE esc_connectiontype; /**< how ESCs connected to the system */ struct { - uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ enum ESC_VENDOR esc_vendor; /**< Vendor of current ESC */ - uint16_t esc_version; /**< Version of current ESC - if supported */ - uint16_t esc_voltage; /**< Voltage measured from current ESC - if supported */ - uint16_t esc_current; /**< Current measured from current ESC (100mA steps) - if supported */ - uint16_t esc_rpm; /**< RPM measured from current ESC - if supported */ - uint16_t esc_temperature; /**< Temperature measured from current ESC - if supported */ - float esc_setpoint; /**< setpoint of current ESC */ + uint32_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + int32_t esc_rpm; /**< Motor RPM, negative for reverse rotation [RPM] - if supported */ + float esc_voltage; /**< Voltage measured from current ESC [V] - if supported */ + float esc_current; /**< Current measured from current ESC [A] - if supported */ + float esc_temperature; /**< Temperature measured from current ESC [degC] - if supported */ + float esc_setpoint; /**< setpoint of current ESC */ uint16_t esc_setpoint_raw; /**< setpoint of current ESC (Value sent to ESC) */ - uint16_t esc_state; /**< State of ESC - depend on Vendor */ - uint16_t esc_errorcount; /**< Number of reported errors by ESC - if supported */ + uint16_t esc_address; /**< Address of current ESC (in most cases 1-8 / must be set by driver) */ + uint16_t esc_version; /**< Version of current ESC - if supported */ + uint16_t esc_state; /**< State of ESC - depend on Vendor */ } esc[CONNECTED_ESC_MAX]; }; diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h index beb797e62..c7d25d1f0 100644 --- a/src/modules/uORB/topics/mission_result.h +++ b/src/modules/uORB/topics/mission_result.h @@ -55,8 +55,11 @@ struct mission_result_s { unsigned seq_reached; /**< Sequence of the mission item which has been reached */ unsigned seq_current; /**< Sequence of the current mission item */ - bool reached; /**< true if mission has been reached */ - bool finished; /**< true if mission has been completed */ + bool reached; /**< true if mission has been reached */ + bool finished; /**< true if mission has been completed */ + bool stay_in_failsafe; /**< true if the commander should not switch out of the failsafe mode*/ + bool geofence_violated; /**< true if the geofence is violated */ + bool flight_termination; /**< true if the navigator demands a flight termination from the commander app */ }; /** diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index d7b131e3c..72a28e501 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -53,11 +53,42 @@ enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT = 0, OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1, OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2, - OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3, - OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3, + OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, + OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, + OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, + OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8, + OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9, + OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10, + OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ +}; + +enum OFFBOARD_CONTROL_FRAME { + OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0, + OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1, + OFFBOARD_CONTROL_FRAME_BODY_NED = 2, + OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3, + OFFBOARD_CONTROL_FRAME_GLOBAL = 4 +}; + +/* mappings for the ignore bitmask */ +enum {OFB_IGN_BIT_POS_X, + OFB_IGN_BIT_POS_Y, + OFB_IGN_BIT_POS_Z, + OFB_IGN_BIT_VEL_X, + OFB_IGN_BIT_VEL_Y, + OFB_IGN_BIT_VEL_Z, + OFB_IGN_BIT_ACC_X, + OFB_IGN_BIT_ACC_Y, + OFB_IGN_BIT_ACC_Z, + OFB_IGN_BIT_BODYRATE_X, + OFB_IGN_BIT_BODYRATE_Y, + OFB_IGN_BIT_BODYRATE_Z, + OFB_IGN_BIT_ATT, + OFB_IGN_BIT_THRUST, + OFB_IGN_BIT_YAW, + OFB_IGN_BIT_YAWRATE, }; /** @@ -70,10 +101,21 @@ struct offboard_control_setpoint_s { enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */ - float p1; /**< ailerons roll / roll rate input */ - float p2; /**< elevator / pitch / pitch rate */ - float p3; /**< rudder / yaw rate / yaw */ - float p4; /**< throttle / collective thrust / altitude */ + double position[3]; /**< lat, lon, alt / x, y, z */ + float velocity[3]; /**< x vel, y vel, z vel */ + float acceleration[3]; /**< x acc, y acc, z acc */ + float attitude[4]; /**< attitude of vehicle (quaternion) */ + float attitude_rate[3]; /**< body angular rates (x, y, z) */ + float thrust; /**< thrust */ + float yaw; /**< yaw: this is the yaw from the position_target message + (not from the full attitude_target message) */ + float yaw_rate; /**< yaw rate: this is the yaw from the position_target message + (not from the full attitude_target message) */ + + uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file + for mapping */ + + bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ float override_mode_switch; @@ -87,6 +129,147 @@ struct offboard_control_setpoint_s { * @} */ +/** + * Returns true if the position setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_position(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_POS_X + index))); +} + +/** + * Returns true if all position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some position setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_position_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_position(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the velocity setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_velocity(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_VEL_X + index))); +} + +/** + * Returns true if all velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some velocity setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_velocity_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_velocity(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the acceleration setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_ACC_X + index))); +} + +/** + * Returns true if all acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (!offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return false; + } + } + return true; +} + +/** + * Returns true if some acceleration setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_acceleration_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the bodyrate setpoint at index should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) { + return (bool)(offboard_control_sp.ignore & (1 << (OFB_IGN_BIT_BODYRATE_X + index))); +} + +/** + * Returns true if some of the bodyrate setpoints should be ignored + */ +inline bool offboard_control_sp_ignore_bodyrates_some(const struct offboard_control_setpoint_s &offboard_control_sp) { + for (int i = 0; i < 3; i++) { + if (offboard_control_sp_ignore_bodyrates(offboard_control_sp, i)) { + return true; + } + } + return false; +} + +/** + * Returns true if the attitude setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_ATT)); +} + +/** + * Returns true if the thrust setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST)); +} + +/** + * Returns true if the yaw setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW)); +} + +/** + * Returns true if the yaw rate setpoint should be ignored + */ +inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE)); +} + + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ec2131abd..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -79,10 +79,17 @@ struct position_setpoint_s double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float a_x; //**< acceleration x setpoint */ + float a_y; //**< acceleration y setpoint */ + float a_z; //**< acceleration z setpoint */ + bool acceleration_valid; //*< true if acceleration setpoint is valid/should be used */ + bool acceleration_is_force; //*< interprete acceleration as force */ }; /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 8978de471..16916cc4d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -34,6 +34,8 @@ /** * @file rc_channels.h * Definition of the rc_channels uORB topic. + * + * @deprecated DO NOT USE FOR NEW CODE */ #ifndef RC_CHANNELS_H_ @@ -63,10 +65,13 @@ enum RC_CHANNELS_FUNCTION { AUX_2, AUX_3, AUX_4, - AUX_5, - RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ + AUX_5 }; +// MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS + +#define RC_CHANNELS_FUNCTION_MAX 18 + /** * @addtogroup topics * @{ @@ -76,7 +81,6 @@ struct rc_channels_s { uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ uint8_t channel_count; /**< Number of valid channels */ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ uint8_t rssi; /**< Receive signal strength index */ bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 1297c1a9d..93193f32b 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -67,6 +67,8 @@ struct telemetry_status_s { uint8_t noise; /**< background noise level */ uint8_t remote_noise; /**< remote background noise level */ uint8_t txbuf; /**< how full the tx buffer is as a percentage */ + uint8_t system_id; /**< system id of the remote system */ + uint8_t component_id; /**< component id of the remote system */ }; /** diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h new file mode 100644 index 000000000..491096934 --- /dev/null +++ b/src/modules/uORB/topics/test_motor.h @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 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 + * 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 test_motor.h + * + * Test a single drive motor while the vehicle is disarmed + * + * Publishing values to this topic causes a single motor to spin, e.g. for + * ground test purposes. This topic will be ignored while the vehicle is armed. + * + */ + +#ifndef TOPIC_TEST_MOTOR_H +#define TOPIC_TEST_MOTOR_H + +#include <stdint.h> +#include "../uORB.h" + +#define NUM_MOTOR_OUTPUTS 8 + +/** + * @addtogroup topics + * @{ + */ + +struct test_motor_s { + uint64_t timestamp; /**< output timestamp in us since system boot */ + unsigned motor_number; /**< number of motor to spin */ + float value; /**< output data, in natural output units */ +}; + +/** + * @} + */ + +/* actuator output sets; this list can be expanded as more drivers emerge */ +ORB_DECLARE(test_motor); + +#endif diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index 44aa50572..f264accbb 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -65,6 +65,9 @@ enum VEHICLE_CMD { VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + VEHICLE_CMD_NAV_GUIDED_LIMITS=90, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, WGS84) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, WGS84) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_MASTER=91, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */ + VEHICLE_CMD_NAV_GUIDED_ENABLE=92, /* hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index b071e0fa3..78de55b7d 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -79,6 +79,7 @@ struct vehicle_control_mode_s { bool flag_control_offboard_enabled; /**< true if offboard control should be used */ 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_force_enabled; /**< true if force control is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h index 80d65cd69..31e616f4f 100644 --- a/src/modules/uORB/topics/vehicle_gps_position.h +++ b/src/modules/uORB/topics/vehicle_gps_position.h @@ -62,7 +62,7 @@ struct vehicle_gps_position_s { uint64_t timestamp_variance; float s_variance_m_s; /**< speed accuracy estimate m/s */ float c_variance_rad; /**< course accuracy estimate rad */ - uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ + uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */ float eph; /**< GPS HDOP horizontal dilution of position in m */ float epv; /**< GPS VDOP horizontal dilution of position in m */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 973987f5c..6bd156ccd 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -104,7 +104,10 @@ typedef enum { 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_RCRECOVER, /**< RC recover mode */ NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */ + NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */ + NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */ NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ @@ -200,14 +203,25 @@ struct vehicle_status_s { bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */ bool rc_input_blocked; /**< set if RC input should be ignored */ - bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost; /**< datalink to GCS lost */ + bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */ + uint8_t data_link_lost_counter; /**< counts unique data link lost events */ + bool engine_failure; /** Set to true if an engine failure is detected */ + bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */ + bool gps_failure; /** Set to true if a gps failure is detected */ + bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */ + + bool barometer_failure; /** Set to true if a barometer failure is detected */ 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 offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command + and should not be overridden by RC */ /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; @@ -229,6 +243,8 @@ struct vehicle_status_s { bool circuit_breaker_engaged_power_check; bool circuit_breaker_engaged_airspd_check; + bool circuit_breaker_engaged_enginefailure_check; + bool circuit_breaker_engaged_gpsfailure_check; }; /** |