diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 155 |
1 files changed, 93 insertions, 62 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index c7c1048f6..2bcd57f4b 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -59,21 +59,58 @@ */ /* State Machine */ -typedef enum -{ - SYSTEM_STATE_PREFLIGHT = 0, - SYSTEM_STATE_STANDBY = 1, - SYSTEM_STATE_GROUND_READY = 2, - SYSTEM_STATE_MANUAL = 3, - SYSTEM_STATE_STABILIZED = 4, - SYSTEM_STATE_AUTO = 5, - SYSTEM_STATE_MISSION_ABORT = 6, - SYSTEM_STATE_EMCY_LANDING = 7, - SYSTEM_STATE_EMCY_CUTOFF = 8, - SYSTEM_STATE_GROUND_ERROR = 9, - SYSTEM_STATE_REBOOT= 10, - -} commander_state_machine_t; +typedef enum { + NAVIGATION_STATE_INIT=0, + NAVIGATION_STATE_MANUAL_STANDBY, + NAVIGATION_STATE_MANUAL, + NAVIGATION_STATE_SEATBELT_STANDBY, + NAVIGATION_STATE_SEATBELT, + NAVIGATION_STATE_SEATBELT_DESCENT, + NAVIGATION_STATE_AUTO_STANDBY, + NAVIGATION_STATE_AUTO_READY, + NAVIGATION_STATE_AUTO_TAKEOFF, + NAVIGATION_STATE_AUTO_LOITER, + NAVIGATION_STATE_AUTO_MISSION, + NAVIGATION_STATE_AUTO_RTL, + NAVIGATION_STATE_AUTO_LAND +} navigation_state_t; + +typedef enum { + MANUAL_STANDBY = 0, + MANUAL_READY, + MANUAL_IN_AIR +} manual_state_t; + +typedef enum { + ARMING_STATE_INIT = 0, + ARMING_STATE_STANDBY, + ARMING_STATE_ARMED, + ARMING_STATE_ARMED_ERROR, + ARMING_STATE_STANDBY_ERROR, + ARMING_STATE_REBOOT, + ARMING_STATE_IN_AIR_RESTORE +} arming_state_t; + +typedef enum { + HIL_STATE_OFF = 0, + HIL_STATE_ON +} hil_state_t; + +typedef enum { + MODE_SWITCH_MANUAL = 0, + MODE_SWITCH_SEATBELT, + MODE_SWITCH_AUTO +} mode_switch_pos_t; + +typedef enum { + RETURN_SWITCH_NONE = 0, + RETURN_SWITCH_RETURN +} return_switch_pos_t; + +typedef enum { + MISSION_SWITCH_NONE = 0, + MISSION_SWITCH_MISSION +} mission_switch_pos_t; enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, @@ -86,26 +123,6 @@ enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 }; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ -enum VEHICLE_FLIGHT_MODE { - VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */ - VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */ - VEHICLE_FLIGHT_MODE_HOLD, /**< hold current position (hover or loiter around position when switched) */ - VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */ -}; - -enum VEHICLE_MANUAL_CONTROL_MODE { - VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0, /**< no attitude control, direct stick input mixing (only fixed wing) */ - VEHICLE_MANUAL_CONTROL_MODE_RATES, /**< body rates control mode */ - VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */ -}; - -enum VEHICLE_MANUAL_SAS_MODE { - VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0, /**< roll, pitch and yaw absolute */ - VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE, /**< roll and pitch absolute, yaw rate */ - VEHICLE_MANUAL_SAS_MODE_SIMPLE, /**< simple mode (includes altitude hold) */ - VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */ -}; - /** * Should match 1:1 MAVLink's MAV_TYPE ENUM */ @@ -134,7 +151,7 @@ enum VEHICLE_TYPE { enum VEHICLE_BATTERY_WARNING { VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */ VEHICLE_BATTERY_WARNING_WARNING, /**< warning of low voltage 1. stage */ - VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */ + VEHICLE_BATTERY_WARNING_ALERT /**< alerting of low voltage 2. stage */ }; @@ -150,32 +167,55 @@ 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 */ uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */ - //uint64_t failsave_highlevel_begin; TO BE COMPLETED +// uint64_t failsave_highlevel_begin; TO BE COMPLETED + + navigation_state_t navigation_state; /**< current system state */ + arming_state_t arming_state; /**< current arming state */ + hil_state_t hil_state; /**< current hil state */ - 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_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */ - enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */ int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */ int32_t system_id; /**< system id, inspired by MAVLink's system ID field */ int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */ /* system flags - these represent the state predicates */ - bool flag_system_armed; /**< true is motors / actuators are armed */ - bool flag_control_manual_enabled; /**< true if manual input is mixed in */ - bool flag_control_offboard_enabled; /**< true if offboard control input is on */ + mode_switch_pos_t mode_switch; + return_switch_pos_t return_switch; + mission_switch_pos_t mission_switch; + + + bool condition_system_emergency; + bool condition_system_in_air_restore; /**< true if we can restore in mid air */ + bool condition_system_sensors_initialized; + bool condition_system_returned_to_home; + bool condition_auto_mission_available; + bool condition_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ + bool condition_launch_position_valid; /**< indicates a valid launch position */ + bool condition_home_position_valid; /**< indicates a valid home position (a valid home position is not always a valid launch) */ + bool condition_local_position_valid; + bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ + + // bool condition_auto_flight_mode_ok; /**< conditions of auto flight mode apply plus a valid takeoff position lock has been aquired */ + bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ + bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */ + //bool flag_armed; /**< true is motors / actuators are armed */ + //bool flag_safety_off; /**< true if safety is off */ + bool flag_system_emergency; + bool flag_preflight_calibration; - 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 speed (implies direction) is controlled */ - bool flag_control_position_enabled; /**< true if position is controlled */ + // 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_auto_enabled; + // 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 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 */ - bool flag_preflight_accel_calibration; - bool flag_preflight_airspeed_calibration; + // bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */ + // bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */ + // bool flag_preflight_accel_calibration; + // bool flag_preflight_airspeed_calibration; bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception is terminally lost */ @@ -188,7 +228,7 @@ struct vehicle_status_s uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */ bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */ - //bool failsave_highlevel; + bool failsave_highlevel; /* see SYS_STATUS mavlink message for the following */ uint32_t onboard_control_sensors_present; @@ -205,15 +245,6 @@ struct vehicle_status_s uint16_t errors_count2; uint16_t errors_count3; uint16_t errors_count4; - - bool flag_global_position_valid; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */ - bool flag_local_position_valid; - bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */ - bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */ - bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ - bool flag_valid_launch_position; /**< indicates a valid launch position */ - bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */ - bool flag_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */ }; /** |