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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-22 21:48:21 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-22 21:48:21 +0400 |
| commit | 963abd66badf71a925f80e12312c429d64999424 (patch) | |
| tree | fd51db36605969fd864d9a271f768dad97a5a081 /src/modules/uORB | |
| parent | eb52eae153bc83144ddb5d6d03fdbb22aa0c9203 (diff) | |
| download | px4-firmware-963abd66badf71a925f80e12312c429d64999424.tar.gz px4-firmware-963abd66badf71a925f80e12312c429d64999424.tar.bz2 px4-firmware-963abd66badf71a925f80e12312c429d64999424.zip | |
commander: WIP, SEATBELT renamed to ASSISTED, added SIMPLE mode, added ASSISTED switch, some cleanup and reorganizing
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 1 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 17 |
2 files changed, 13 insertions, 5 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index cfee81ea2..eac6d6e98 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -58,6 +58,7 @@ struct manual_control_setpoint_s { float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ float return_switch; /**< land 2 position switch (mandatory): land, no effect */ + float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ float mission_switch; /**< mission 2 position switch (optional): mission, loiter */ /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index ec08a6c13..9b91e834e 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -60,12 +60,13 @@ /* State Machine */ typedef enum { - NAVIGATION_STATE_INIT=0, + NAVIGATION_STATE_INIT = 0, NAVIGATION_STATE_MANUAL_STANDBY, NAVIGATION_STATE_MANUAL, - NAVIGATION_STATE_SEATBELT_STANDBY, - NAVIGATION_STATE_SEATBELT, - NAVIGATION_STATE_SEATBELT_DESCENT, + 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, @@ -98,7 +99,7 @@ typedef enum { typedef enum { MODE_SWITCH_MANUAL = 0, - MODE_SWITCH_SEATBELT, + MODE_SWITCH_ASSISTED, MODE_SWITCH_AUTO } mode_switch_pos_t; @@ -108,6 +109,11 @@ typedef enum { } 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; @@ -179,6 +185,7 @@ struct vehicle_status_s mode_switch_pos_t mode_switch; return_switch_pos_t return_switch; + assisted_switch_pos_t assisted_switch; mission_switch_pos_t mission_switch; bool condition_battery_voltage_valid; |