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| author | tumbili <bapstr@ethz.ch> | 2014-12-31 16:25:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-31 16:40:16 +0100 |
| commit | 72eafad5104ca0919f822fe44391c69f1ca80e8c (patch) | |
| tree | dfe80337b5b0b8521a696986577e0167ce8dd30a /src/modules/uORB | |
| parent | 57ca716402c5f1bc0612532cbb0bd04edbb87ac4 (diff) | |
| download | px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.tar.gz px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.tar.bz2 px4-firmware-72eafad5104ca0919f822fe44391c69f1ca80e8c.zip | |
introduced vtol_fw_permanent stabilization: allows vtol to be attitude-stabilized in manual mode
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 2 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vtol_vehicle_status.h | 1 |
2 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index b4d5c7b88..b56e81e04 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -189,6 +189,8 @@ struct vehicle_status_s { this is only true while flying as a multicopter */ bool is_vtol; /**< True if the system is VTOL capable */ + bool vtol_fw_permanent_stab; /**< True if vtol should stabilize attitude for fw in manual mode */ + bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; diff --git a/src/modules/uORB/topics/vtol_vehicle_status.h b/src/modules/uORB/topics/vtol_vehicle_status.h index 24ecca9fa..7b4e22bc8 100644 --- a/src/modules/uORB/topics/vtol_vehicle_status.h +++ b/src/modules/uORB/topics/vtol_vehicle_status.h @@ -54,6 +54,7 @@ struct vtol_vehicle_status_s { uint64_t timestamp; /**< Microseconds since system boot */ bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */ + bool fw_permanent_stab; /**< In fw mode stabilize attitude even if in manual mode*/ }; /** |