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Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 258 |
1 files changed, 258 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h new file mode 100644 index 000000000..6d3f8a863 --- /dev/null +++ b/src/modules/uORB/topics/vehicle_status.h @@ -0,0 +1,258 @@ +/**************************************************************************** + * + * 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> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vehicle_status.h + * Definition of the vehicle_status uORB topic. + * + * Published the state machine and the system status bitfields + * (see SYS_STATUS mavlink message), published only by commander app. + * + * All apps should write to subsystem_info: + * + * (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app) + */ + +#ifndef VEHICLE_STATUS_H_ +#define VEHICLE_STATUS_H_ + +#include <stdint.h> +#include <stdbool.h> +#include "../uORB.h" + +/** + * @addtogroup topics @{ + */ + +/* State Machine */ +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, + VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, + VEHICLE_MODE_FLAG_HIL_ENABLED = 32, + VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16, + VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, + VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, + VEHICLE_MODE_FLAG_TEST_ENABLED = 2, + VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 +}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */ + +/** + * 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, /* | */ +}; + +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 /**< alerting of low voltage 2. stage */ +}; + + +/** + * state machine / state of vehicle. + * + * Encodes the complete system state and is set by the commander app. + */ +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 */ + 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 + + navigation_state_t navigation_state; /**< current system state */ + arming_state_t arming_state; /**< current arming state */ + hil_state_t hil_state; /**< current hil state */ + + 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 */ + + 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_fmu_armed; /**< true is motors / actuators of FMU are armed */ + bool flag_io_armed; /**< true is motors / actuators of IO are armed */ + bool flag_system_emergency; + bool flag_preflight_calibration; + + 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 rc_signal_found_once; + bool rc_signal_lost; /**< true if RC reception is terminally lost */ + bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */ + uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */ + + bool offboard_control_signal_found_once; + bool offboard_control_signal_lost; + bool offboard_control_signal_weak; + 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; + + /* see SYS_STATUS mavlink message for the following */ + uint32_t onboard_control_sensors_present; + uint32_t onboard_control_sensors_enabled; + uint32_t onboard_control_sensors_health; + float load; + float voltage_battery; + float current_battery; + float battery_remaining; + enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */ + uint16_t drop_rate_comm; + uint16_t errors_comm; + uint16_t errors_count1; + uint16_t errors_count2; + uint16_t errors_count3; + uint16_t errors_count4; + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(vehicle_status); + +#endif |