diff options
Diffstat (limited to 'src/modules/uORB/topics/vehicle_status.h')
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 28 |
1 files changed, 13 insertions, 15 deletions
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 9390ff717..851938795 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -59,7 +59,9 @@ * @addtogroup topics @{ */ -/* main state machine */ +/** + * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. + */ typedef enum { MAIN_STATE_MANUAL = 0, MAIN_STATE_ALTCTL, @@ -89,27 +91,21 @@ typedef enum { HIL_STATE_ON } hil_state_t; -typedef enum { - FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */ - FAILSAFE_STATE_RC_LOSS, /**< Return To Launch on remote control loss */ - FAILSAFE_STATE_DL_LOSS, /**< Return To Launch on datalink loss */ - FAILSAFE_STATE_LAND, /**< Land as safe as possible */ - FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */ - FAILSAFE_STATE_MAX, -} failsafe_state_t; - +/** + * Navigation state, i.e. "what should vehicle do". + */ typedef enum { NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */ - NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */ NAVIGATION_STATE_POSCTL, /**< Position control mode */ NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */ NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */ NAVIGATION_STATE_AUTO_RTL, /**< Auto RTL mode */ - NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS, /**< Auto failsafe on RC loss mode */ - NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS, /**< Auto failsafe on datalink loss mode */ + NAVIGATION_STATE_ACRO, /**< Acro mode */ NAVIGATION_STATE_LAND, /**< Land mode */ + NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */ NAVIGATION_STATE_TERMINATION, /**< Termination mode */ + NAVIGATION_STATE_MAX, } navigation_state_t; enum VEHICLE_MODE_FLAG { @@ -171,10 +167,10 @@ struct vehicle_status_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ main_state_t main_state; /**< main state machine */ - navigation_state_t set_nav_state; /**< set navigation state machine to specified value */ + navigation_state_t nav_state; /**< set navigation state machine to specified value */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ - failsafe_state_t failsafe_state; /**< current failsafe state */ + bool failsafe; /**< true if system is in failsafe 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 */ @@ -199,6 +195,8 @@ struct vehicle_status_s { bool rc_signal_lost; /**< true if RC reception lost */ bool rc_input_blocked; /**< set if RC input should be ignored */ + bool data_link_lost; /**< datalink to GCS lost */ + bool offboard_control_signal_found_once; bool offboard_control_signal_lost; bool offboard_control_signal_weak; |