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-rw-r--r--apps/commander/commander.c10
-rw-r--r--apps/commander/state_machine_helper.c90
-rw-r--r--apps/mavlink/mavlink.c76
-rw-r--r--apps/px4/attitude_estimator_bm/attitude_estimator_bm.c2
-rw-r--r--apps/sensors/sensors.c2
-rw-r--r--apps/systemcmds/top/top.c6
-rw-r--r--apps/uORB/topics/vehicle_status.h32
7 files changed, 142 insertions, 76 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 47829ddf5..149a662fd 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -95,10 +95,7 @@ static int leds;
static int buzzer;
static int mavlink_fd;
static bool commander_initialized = false;
-static struct vehicle_status_s current_status = {
- .state_machine = SYSTEM_STATE_PREFLIGHT,
- .mode = 0
-}; /**< Main state machine */
+static struct vehicle_status_s current_status; /**< Main state machine */
static int stat_pub;
static uint16_t nofix_counter = 0;
@@ -798,6 +795,7 @@ int commander_main(int argc, char *argv[])
/* make sure we are in preflight state */
memset(&current_status, 0, sizeof(current_status));
current_status.state_machine = SYSTEM_STATE_PREFLIGHT;
+ current_status.flag_system_armed = false;
/* advertise to ORB */
stat_pub = orb_advertise(ORB_ID(vehicle_status), &current_status);
@@ -905,8 +903,8 @@ int commander_main(int argc, char *argv[])
}
/* toggle error led at 5 Hz in HIL mode */
- if ((current_status.mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
- /* armed */
+ if (current_status.flag_hil_enabled) {
+ /* hil enabled */
led_toggle(LED_AMBER);
} else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) {
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c
index b44d2150c..3209ee728 100644
--- a/apps/commander/state_machine_helper.c
+++ b/apps/commander/state_machine_helper.c
@@ -83,14 +83,14 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
} else {
ret = do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_EMCY_CUTOFF);
}
-
- return;
}
break;
case SYSTEM_STATE_EMCY_LANDING:
/* Tell the controller to land */
- //TODO: add emcy landing code here
+
+ /* set system flags according to state */
+ current_status->flag_system_armed = true;
fprintf(stderr, "[commander] EMERGENCY LANDING!\n");
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY LANDING!");
@@ -98,11 +98,21 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
case SYSTEM_STATE_EMCY_CUTOFF:
/* Tell the controller to cutoff the motors (thrust = 0) */
+
+ /* set system flags according to state */
+ current_status->flag_system_armed = false;
+
fprintf(stderr, "[commander] EMERGENCY MOTOR CUTOFF!\n");
mavlink_log_critical(mavlink_fd, "[commander] EMERGENCY MOTOR CUTOFF!");
break;
case SYSTEM_STATE_GROUND_ERROR:
+
+ /* set system flags according to state */
+
+ /* prevent actuators from arming */
+ current_status->flag_system_armed = false;
+
fprintf(stderr, "[commander] GROUND ERROR, locking down propulsion system\n");
mavlink_log_critical(mavlink_fd, "[commander] GROUND ERROR, locking down propulsion system");
break;
@@ -110,7 +120,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
case SYSTEM_STATE_PREFLIGHT:
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
- invalid_state = false;
+ /* set system flags according to state */
+ current_status->flag_system_armed = true;
mavlink_log_critical(mavlink_fd, "[commander] Switched to PREFLIGHT state");
} else {
invalid_state = true;
@@ -122,6 +133,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
invalid_state = false;
+ /* set system flags according to state */
+ current_status->flag_system_armed = false;
mavlink_log_critical(mavlink_fd, "[commander] REBOOTING SYSTEM");
usleep(500000);
reboot();
@@ -133,22 +146,47 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
break;
case SYSTEM_STATE_STANDBY:
+ /* set system flags according to state */
+
+ /* standby enforces disarmed */
+ current_status->flag_system_armed = false;
+
mavlink_log_critical(mavlink_fd, "[commander] Switched to STANDBY state");
break;
case SYSTEM_STATE_GROUND_READY:
+
+ /* set system flags according to state */
+
+ /* ground ready has motors / actuators armed */
+ current_status->flag_system_armed = true;
+
mavlink_log_critical(mavlink_fd, "[commander] Switched to GROUND READY state");
break;
case SYSTEM_STATE_AUTO:
+
+ /* set system flags according to state */
+
+ /* auto is airborne and in auto mode, motors armed */
+ current_status->flag_system_armed = true;
+
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / AUTO mode");
break;
case SYSTEM_STATE_STABILIZED:
+
+ /* set system flags according to state */
+ current_status->flag_system_armed = true;
+
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / STABILIZED mode");
break;
case SYSTEM_STATE_MANUAL:
+
+ /* set system flags according to state */
+ current_status->flag_system_armed = true;
+
mavlink_log_critical(mavlink_fd, "[commander] Switched to FLYING / MANUAL mode");
break;
@@ -424,15 +462,10 @@ void update_state_machine_no_position_fix(int status_pub, struct vehicle_status_
void update_state_machine_arm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
- // XXX CHANGE BACK
if (current_status->state_machine == SYSTEM_STATE_STANDBY) {
printf("[commander] arming\n");
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
- } /*else if (current_status->state_machine == SYSTEM_STATE_AUTO) {
-
- printf("[commander] landing\n");
- do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
- }*/
+ }
}
void update_state_machine_disarm(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
@@ -451,7 +484,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
- current_status->control_manual_enabled = true;
+ current_status->flag_control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -464,7 +497,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
- current_status->control_manual_enabled = true;
+ current_status->flag_control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) {
@@ -477,7 +510,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
{
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
- current_status->control_manual_enabled = true;
+ current_status->flag_control_manual_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) {
@@ -492,20 +525,11 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
printf("in update state request\n");
uint8_t ret = 1;
- current_status->mode |= VEHICLE_MODE_FLAG_SAFETY_ARMED;
- /* Set manual input enabled flag */
- current_status->mode |= VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED;
- do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
-
/* vehicle is disarmed, mode requests arming */
- if (!(current_status->mode & VEHICLE_MODE_FLAG_SAFETY_ARMED) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
+ if (!(current_status->flag_system_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only arm in standby state */
// XXX REMOVE
if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
- /* Set armed flag */
- current_status->mode |= VEHICLE_MODE_FLAG_SAFETY_ARMED;
- /* Set manual input enabled flag */
- current_status->mode |= VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED;
do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
ret = OK;
printf("[commander] arming due to command request\n");
@@ -513,28 +537,26 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
}
/* vehicle is armed, mode requests disarming */
- //if ((current_status->mode & VEHICLE_MODE_FLAG_SAFETY_ARMED) && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
+ if (current_status->flag_system_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
/* only disarm in ground ready */
- //if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
- /* Clear armed flag, leave manual input enabled */
- // current_status->mode &= ~VEHICLE_MODE_FLAG_SAFETY_ARMED;
- // do_state_update(status_pub, current_status, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
- // ret = OK;
- // printf("[commander] disarming due to command request\n");
- //}
- //}
+ if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
+ do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
+ ret = OK;
+ printf("[commander] disarming due to command request\n");
+ }
+ }
/* Switch on HIL if in standby */
if ((current_status->state_machine == SYSTEM_STATE_STANDBY) && (mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
/* Enable HIL on request */
- current_status->mode |= VEHICLE_MODE_FLAG_HIL_ENABLED;
+ current_status->flag_hil_enabled = true;
ret = OK;
state_machine_publish(status_pub, current_status, mavlink_fd);
printf("[commander] Enabling HIL\n");
}
/* NEVER actually switch off HIL without reboot */
- if ((current_status->mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
+ if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
fprintf(stderr, "[commander] DENYING request to switch of HIL. Please power cycle (safety reasons)\n");
ret = ERROR;
}
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 9fc987910..026af14ae 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -92,7 +92,6 @@ static mavlink_status_t status;
static pthread_t receive_thread;
static pthread_t uorb_receive_thread;
-static uint16_t mavlink_message_intervals[256]; /**< intervals at which to send MAVLink packets */
/* Allocate storage space for waypoints */
mavlink_wpm_storage wpm_s;
@@ -125,6 +124,7 @@ static struct vehicle_command_s vcmd;
static int pub_hil_global_pos = -1;
static int ardrone_motors_pub = -1;
static int cmd_pub = -1;
+static int sensor_sub = -1;
static int global_pos_sub = -1;
static int local_pos_sub = -1;
static int flow_pub = -1;
@@ -154,7 +154,7 @@ void handleMessage(mavlink_message_t *msg);
/**
* Enable / disable Hardware in the Loop simulation mode.
*/
-int set_hil_on_off(uint8_t vehicle_mode);
+int set_hil_on_off(bool hil_enabled);
/**
* Translate the custom state into standard mavlink modes and state.
@@ -281,12 +281,12 @@ extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float pa
-int set_hil_on_off(uint8_t vehicle_mode)
+int set_hil_on_off(bool hil_enabled)
{
int ret = OK;
/* Enable HIL */
- if ((vehicle_mode & MAV_MODE_FLAG_HIL_ENABLED) && !mavlink_hil_enabled) {
+ if (hil_enabled && !mavlink_hil_enabled) {
//printf("\n HIL ON \n");
@@ -308,7 +308,7 @@ int set_hil_on_off(uint8_t vehicle_mode)
}
}
- if (!(vehicle_mode & MAV_MODE_FLAG_HIL_ENABLED) && mavlink_hil_enabled) {
+ if (!hil_enabled && mavlink_hil_enabled) {
mavlink_hil_enabled = false;
(void)close(pub_hil_attitude);
(void)close(pub_hil_global_pos);
@@ -326,7 +326,7 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t
*mavlink_mode = 0;
/* set mode flags independent of system state */
- if (c_status->control_manual_enabled) {
+ if (c_status->flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
@@ -432,6 +432,28 @@ static void *receiveloop(void *arg)
return NULL;
}
+static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval)
+{
+ int ret = OK;
+
+ switch (mavlink_msg_id) {
+ case MAVLINK_MSG_ID_SCALED_IMU:
+ /* senser sub triggers scaled IMU */
+ orb_set_interval(sensor_sub, min_interval);
+ break;
+ case MAVLINK_MSG_ID_RAW_IMU:
+ /* senser sub triggers RAW IMU */
+ orb_set_interval(sensor_sub, min_interval);
+ break;
+ default:
+ /* not found */
+ ret = ERROR;
+ break;
+ }
+
+ return ret;
+}
+
/**
* Listen for uORB topics and send via MAVLink.
*
@@ -466,7 +488,7 @@ static void *uorb_receiveloop(void *arg)
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
- int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+ sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
orb_set_interval(sensor_sub, 100); /* 10Hz updates */
fds[fdsc_count].fd = sensor_sub;
fds[fdsc_count].events = POLLIN;
@@ -662,11 +684,11 @@ static void *uorb_receiveloop(void *arg)
/* immediately communicate state changes back to user */
orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
/* enable or disable HIL */
- set_hil_on_off(v_status.mode);
+ set_hil_on_off(v_status.flag_hil_enabled);
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
- uint8_t mavlink_mode = v_status.mode;
+ uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
/* send heartbeat */
@@ -691,7 +713,7 @@ static void *uorb_receiveloop(void *arg)
fw_control.attitude_control_output[3]);
/* Only send in HIL mode */
- if (v_status.mode & MAV_MODE_FLAG_HIL_ENABLED) {
+ if (v_status.flag_hil_enabled) {
/* Send the desired attitude from RC or from the autonomous controller */
// XXX it should not depend on a RC setting, but on a system_state value
@@ -898,10 +920,11 @@ void handleMessage(mavlink_message_t *msg)
/* check if topic is advertised */
if (flow_pub <= 0) {
- flow_pub = orb_advertise(ORB_ID(optical_flow), &flow);
+ flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
+ } else {
+ /* publish */
+ orb_publish(ORB_ID(optical_flow), flow_pub, &f);
}
- /* publish */
- orb_publish(ORB_ID(optical_flow), flow_pub, &flow);
}
if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
@@ -1192,11 +1215,6 @@ int mavlink_main(int argc, char *argv[])
/* reate the device node that's used for sending text log messages, etc. */
register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);
- /* Send attitude at 10 Hz / every 100 ms */
- mavlink_message_intervals[MAVLINK_MSG_ID_ATTITUDE] = 100;
- /* Send raw sensor values at 10 Hz / every 100 ms */
- mavlink_message_intervals[MAVLINK_MSG_ID_RAW_IMU] = 100;
-
/* default values for arguments */
char *uart_name = "/dev/ttyS0";
int baudrate = 57600;
@@ -1283,9 +1301,23 @@ int mavlink_main(int argc, char *argv[])
uint16_t counter = 0;
int lowspeed_counter = 0;
- /**< Subscribe to system state and RC channels */
- // int status_sub = orb_subscribe(ORB_ID(vehicle_status));
- // int rc_sub = orb_subscribe(ORB_ID(rc_channels));
+ /* all subscriptions are now active, set up initial guess about rate limits */
+ if (baudrate >= 921600) {
+ /* 1000 Hz / 1 ms */
+ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1);
+ } else if (baudrate >= 460800) {
+ /* 250 Hz / 4 ms */
+ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4);
+ } else if (baudrate >= 115200) {
+ /* 50 Hz / 20 ms */
+ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20);
+ } else if (baudrate >= 57600) {
+ /* 10 Hz / 100 ms */
+ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100);
+ } else {
+ /* very low baud rate, limit to 1 Hz / 1000 ms */
+ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 1000);
+ }
while (1) {
@@ -1305,7 +1337,7 @@ int mavlink_main(int argc, char *argv[])
if (lowspeed_counter == 10) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
- uint8_t mavlink_mode = v_status.mode;
+ uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &mavlink_state, &mavlink_mode);
/* send heartbeat */
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
index c6869a07e..7385171a2 100644
--- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
@@ -245,7 +245,7 @@ int attitude_estimator_bm_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus);
/* switching from non-HIL to HIL mode */
//printf("[attitude_estimator_bm] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
- if ((vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !hil_enabled) {
+ if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
int ret = close(pub_att);
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index aa006f3a6..c44ff8a2a 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -452,7 +452,7 @@ int sensors_main(int argc, char *argv[])
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
- if ((vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED) && !hil_enabled) {
+ if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
int ret = close(sensor_pub);
diff --git a/apps/systemcmds/top/top.c b/apps/systemcmds/top/top.c
index cbbeb8cc0..e6248dd43 100644
--- a/apps/systemcmds/top/top.c
+++ b/apps/systemcmds/top/top.c
@@ -135,9 +135,9 @@ int top_main(int argc, char *argv[])
memset(header_spaces, ' ', CONFIG_TASK_NAME_SIZE);
header_spaces[CONFIG_TASK_NAME_SIZE] = '\0';
#if CONFIG_RR_INTERVAL > 0
- printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
+ printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\tRR SLICE\n", header_spaces);
#else
- printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces);
+ printf("\033[KPID\tCOMMAND%s CPU TOTAL \t%%CPU CURR \tMIN STACK USE\tCURR (BASE) PRIO\n", header_spaces);
#endif
} else {
@@ -190,7 +190,7 @@ int top_main(int argc, char *argv[])
runtime_spaces = "";
}
- printf("\033[K % 2d\t%s%s\t% 8lld ms%s \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]);
+ printf("\033[K % 2d\t%s%s % 8lld ms%s \t % 2d.%03d \t % 6d B", (int)system_load.tasks[i].tcb->pid, system_load.tasks[i].tcb->name, spaces, (system_load.tasks[i].total_runtime / 1000), runtime_spaces, (int)(curr_loads[i] * 100), (int)(curr_loads[i] * 100000.0f - (int)(curr_loads[i] * 1000.0f) * 100), (uint32_t)system_load.tasks[i].tcb->adj_stack_ptr - (uint32_t)system_load.tasks[i].tcb->xcp.regs[REG_R13]);
/* Print scheduling info with RR time slice */
#if CONFIG_RR_INTERVAL > 0
printf("\t%d\t(%d)\t\t%d\n", (int)system_load.tasks[i].tcb->sched_priority, (int)system_load.tasks[i].tcb->base_priority, (int)system_load.tasks[i].tcb->timeslice);
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 2cd179da0..c378b05f1 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -87,9 +87,16 @@ enum VEHICLE_MODE_FLAG {
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
enum VEHICLE_FLIGHT_MODE {
- VEHICLE_FLIGHT_MODE_MANUAL,
- VEHICLE_FLIGHT_MODE_STABILIZED,
- VEHICLE_FLIGHT_MODE_AUTO
+ VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */
+ VEHICLE_FLIGHT_MODE_ATTITUDE, /**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */
+ VEHICLE_FLIGHT_MODE_STABILIZED, /**< attitude or rate stabilization plus velocity or position stabilization */
+ VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
+};
+
+enum VEHICLE_ATTITUDE_MODE {
+ VEHICLE_ATTITUDE_MODE_DIRECT, /**< no attitude control, direct stick input mixing (only fixed wing) */
+ VEHICLE_ATTITUDE_MODE_RATES, /**< body rates control mode */
+ VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */
};
/**
@@ -106,14 +113,21 @@ struct vehicle_status_s
commander_state_machine_t state_machine; /**< Current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< Current flight mode, as defined by mode switch */
+ enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< Current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
+
+ // uint8_t mode;
+
+
+ /* system flags - these represent the state predicates */
- uint8_t mode;
+ bool flag_system_armed; /**< True is motors / actuators are armed */
+ bool flag_control_manual_enabled; /**< true if manual input is mixed in */
+ bool flag_hil_enabled; /**< True if hardware in the loop simulation is enabled */
- bool control_manual_enabled; /**< true if manual input is mixed in */
- bool control_rates_enabled; /**< true if rates are stabilized */
- bool control_attitude_enabled; /**< true if attitude stabilization is mixed in */
- bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
- bool control_position_enabled; /**< true if position is controlled */
+ // bool flag_control_rates_enabled; /**< true if rates are stabilized */
+ // bool flag_control_attitude_enabled; *< true if attitude stabilization is mixed in
+ // bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
+ // bool control_position_enabled; /**< true if position is controlled */
bool preflight_gyro_calibration; /**< true if gyro calibration is requested */
bool preflight_mag_calibration; /**< true if mag calibration is requested */
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-02 18:34:31 +0000