diff options
Diffstat (limited to 'apps/uORB/topics/vehicle_status.h')
| -rw-r--r-- | apps/uORB/topics/vehicle_status.h | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h index 713a7a801..cfde2ab53 100644 --- a/apps/uORB/topics/vehicle_status.h +++ b/apps/uORB/topics/vehicle_status.h @@ -111,23 +111,24 @@ struct vehicle_status_s uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - 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 */ + 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 */ - bool flag_system_armed; /**< True is motors / actuators are armed */ + 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 flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ - // 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 flag_control_rates_enabled; /**< true if rates are stabilized */ + bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_speed_enabled; /**< true if speed (implies direction) is controlled */ + bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ |