diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_control_mode.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 21 |
1 files changed, 11 insertions, 10 deletions
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 4c31f92b5..ea554006f 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Lorenz Meier <lm@inf.ethz.ch> - * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> - * @author Thomas Gubler <thomasgubler@student.ethz.ch> - * @author Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,6 +36,11 @@ * Definition of the vehicle_control_mode uORB topic. * * All control apps should depend their actions based on the flags set here. + * + * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> */ #ifndef VEHICLE_CONTROL_MODE @@ -48,6 +49,7 @@ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" +#include "vehicle_status.h" /** * @addtogroup topics @{ @@ -59,6 +61,7 @@ * * Encodes the complete system state and is set by the commander app. */ + struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ @@ -70,16 +73,14 @@ struct vehicle_control_mode_s { bool flag_system_hil_enabled; bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + bool flag_control_auto_enabled; /**< true if onboard autopilot should act */ 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_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ - bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ - - bool flag_control_auto_enabled; // TEMP - uint8_t auto_state; // TEMP navigation state for AUTO modes + bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ }; /** |