diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
-rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 90 |
1 files changed, 28 insertions, 62 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 318f66a4f..8d58bb4b9 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -63,13 +63,15 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, - MAIN_STATE_SEATBELT, - MAIN_STATE_EASY, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, MAIN_STATE_AUTO, MAIN_STATE_OFFBOARD, MAIN_STATE_MAX } main_state_t; +// If you change the order, add or remove arming_state_t states make sure to update the arrays +// in state_machine_helper.cpp as well. typedef enum { ARMING_STATE_INIT = 0, ARMING_STATE_STANDBY, @@ -94,35 +96,6 @@ typedef enum { FAILSAFE_STATE_MAX } failsafe_state_t; -typedef enum { - MODE_SWITCH_MANUAL = 0, - MODE_SWITCH_ASSISTED, - MODE_SWITCH_AUTO -} mode_switch_pos_t; - -typedef enum { - ASSISTED_SWITCH_SEATBELT = 0, - ASSISTED_SWITCH_EASY -} assisted_switch_pos_t; - -typedef enum { - RETURN_SWITCH_NONE = 0, - RETURN_SWITCH_NORMAL, - RETURN_SWITCH_RETURN -} return_switch_pos_t; - -typedef enum { - MISSION_SWITCH_NONE = 0, - MISSION_SWITCH_LOITER, - MISSION_SWITCH_MISSION -} mission_switch_pos_t; - -typedef enum { - OFFBOARD_SWITCH_NONE = 0, - OFFBOARD_SWITCH_OFFBOARD, - OFFBOARD_SWITCH_ONBOARD -} offboard_switch_pos_t; - enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, @@ -138,31 +111,31 @@ enum VEHICLE_MODE_FLAG { * Should match 1:1 MAVLink's MAV_TYPE ENUM */ enum VEHICLE_TYPE { - VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */ - VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */ - VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */ - VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */ - VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */ - VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */ - VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */ - VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */ - VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */ - VEHICLE_TYPE_ROCKET=9, /* Rocket | */ - VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */ - VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */ - VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */ - VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */ - VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */ - VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */ - VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */ - VEHICLE_TYPE_KITE=17, /* Kite | */ - VEHICLE_TYPE_ENUM_END=18, /* | */ + VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */ + VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */ + VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */ + VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */ + VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */ + VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */ + VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */ + VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */ + VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */ + VEHICLE_TYPE_ROCKET = 9, /* Rocket | */ + VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */ + VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */ + VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */ + VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */ + VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */ + VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */ + VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */ + VEHICLE_TYPE_KITE = 17, /* Kite | */ + VEHICLE_TYPE_ENUM_END = 18, /* | */ }; enum VEHICLE_BATTERY_WARNING { - VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ - VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ - VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ + VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ + VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */ + VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */ }; /** @@ -175,8 +148,7 @@ enum VEHICLE_BATTERY_WARNING { * * Encodes the complete system state and is set by the commander app. */ -struct vehicle_status_s -{ +struct vehicle_status_s { /* use of a counter and timestamp recommended (but not necessary) */ uint16_t counter; /**< incremented by the writing thread everytime new data is stored */ @@ -195,12 +167,6 @@ struct vehicle_status_s bool is_rotary_wing; - mode_switch_pos_t mode_switch; - return_switch_pos_t return_switch; - assisted_switch_pos_t assisted_switch; - mission_switch_pos_t mission_switch; - offboard_switch_pos_t offboard_switch; - bool condition_battery_voltage_valid; bool condition_system_in_air_restore; /**< true if we can restore in mid air */ bool condition_system_sensors_initialized; @@ -227,7 +193,7 @@ struct vehicle_status_s uint32_t onboard_control_sensors_present; uint32_t onboard_control_sensors_enabled; uint32_t onboard_control_sensors_health; - + float load; /**< processor load from 0 to 1 */ float battery_voltage; float battery_current; |