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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-23 09:31:28 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-23 09:31:28 +0200 |
commit | 825b84fa3bbf07bfaa5d664a634c77b4ab5ac4cb (patch) | |
tree | 617447ca54a0b47fef1777e2a8c05746f5210a91 /src/modules/uORB | |
parent | 8bb1f9a4bf3fae0cf8db9a598b4fb1036a9514dd (diff) | |
parent | a7d2963e2bca060493f787cf637b0e1b0d9d829e (diff) | |
download | px4-firmware-825b84fa3bbf07bfaa5d664a634c77b4ab5ac4cb.tar.gz px4-firmware-825b84fa3bbf07bfaa5d664a634c77b4ab5ac4cb.tar.bz2 px4-firmware-825b84fa3bbf07bfaa5d664a634c77b4ab5ac4cb.zip |
Merge remote-tracking branch 'upstream/master' into offboard2_externalsetpointmessages
Conflicts:
src/modules/mavlink/mavlink_main.cpp
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/topics/actuator_armed.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 2 | ||||
-rw-r--r-- | src/modules/uORB/topics/tecs_status.h | 1 | ||||
-rw-r--r-- | src/modules/uORB/topics/telemetry_status.h | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_command.h | 1 |
5 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h index a98d3fc3a..0f6c9aca1 100644 --- a/src/modules/uORB/topics/actuator_armed.h +++ b/src/modules/uORB/topics/actuator_armed.h @@ -56,6 +56,7 @@ struct actuator_armed_s { bool armed; /**< Set to true if system is armed */ bool ready_to_arm; /**< Set to true if system is ready to be armed */ bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ + bool force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */ }; /** @@ -65,4 +66,4 @@ struct actuator_armed_s { /* register this as object request broker structure */ ORB_DECLARE(actuator_armed); -#endif
\ No newline at end of file +#endif diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 673c0e491..4a1932180 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -95,6 +95,8 @@ struct position_setpoint_triplet_s struct position_setpoint_s previous; struct position_setpoint_s current; struct position_setpoint_s next; + + unsigned nav_state; /**< report the navigation state */ }; /** diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h index c4d0c1874..33055018c 100644 --- a/src/modules/uORB/topics/tecs_status.h +++ b/src/modules/uORB/topics/tecs_status.h @@ -66,6 +66,7 @@ struct tecs_status_s { float altitudeSp; float altitude; + float altitudeFiltered; float flightPathAngleSp; float flightPathAngle; float flightPathAngleFiltered; diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 3347724a5..1297c1a9d 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -57,7 +57,8 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; - uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */ + uint64_t heartbeat_time; /**< Time of last received heartbeat from remote system */ + uint64_t telem_time; /**< Time of last received telemetry status packet, 0 for none */ enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ uint8_t rssi; /**< local signal strength */ uint8_t remote_rssi; /**< remote signal strength */ diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h index faf8cc7db..84503887d 100644 --- a/src/modules/uORB/topics/vehicle_command.h +++ b/src/modules/uORB/topics/vehicle_command.h @@ -79,6 +79,7 @@ enum VEHICLE_CMD { VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ |