diff options
Diffstat (limited to 'src/modules/uORB/topics')
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 12 | ||||
| -rw-r--r-- | src/modules/uORB/topics/telemetry_status.h | 10 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 19 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_global_position.h | 12 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_status.h | 3 |
5 files changed, 27 insertions, 29 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 4b57833b6..cf1ddfc38 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -45,6 +45,7 @@ #include <stdint.h> #include <stdbool.h> #include "../uORB.h" +#include <navigator/navigator_state.h> /** * @addtogroup topics @@ -53,10 +54,11 @@ enum SETPOINT_TYPE { - SETPOINT_TYPE_NORMAL = 0, - SETPOINT_TYPE_LOITER, - SETPOINT_TYPE_TAKEOFF, - SETPOINT_TYPE_LAND, + SETPOINT_TYPE_NORMAL = 0, /**< normal setpoint */ + SETPOINT_TYPE_LOITER, /**< loiter setpoint */ + SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */ + SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, vehicle must descend until landing */ + SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */ }; struct position_setpoint_s @@ -82,6 +84,8 @@ struct position_setpoint_triplet_s struct position_setpoint_s previous; struct position_setpoint_s current; struct position_setpoint_s next; + + nav_state_t nav_state; /**< navigation state */ }; /** diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h index 828fb31cc..5192d4d58 100644 --- a/src/modules/uORB/topics/telemetry_status.h +++ b/src/modules/uORB/topics/telemetry_status.h @@ -58,10 +58,10 @@ enum TELEMETRY_STATUS_RADIO_TYPE { struct telemetry_status_s { uint64_t timestamp; enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */ - unsigned rssi; /**< local signal strength */ - unsigned remote_rssi; /**< remote signal strength */ - unsigned rxerrors; /**< receive errors */ - unsigned fixed; /**< count of error corrected packets */ + uint8_t rssi; /**< local signal strength */ + uint8_t remote_rssi; /**< remote signal strength */ + uint16_t rxerrors; /**< receive errors */ + uint16_t fixed; /**< count of error corrected packets */ uint8_t noise; /**< background noise level */ uint8_t remote_noise; /**< remote background noise level */ uint8_t txbuf; /**< how full the tx buffer is as a percentage */ @@ -73,4 +73,4 @@ struct telemetry_status_s { ORB_DECLARE(telemetry_status); -#endif /* TOPIC_TELEMETRY_STATUS_H */
\ No newline at end of file +#endif /* TOPIC_TELEMETRY_STATUS_H */ diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 5aecac898..7cbb37cd8 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -61,23 +61,10 @@ * Encodes the complete system state and is set by the commander app. */ -typedef enum { - NAV_STATE_NONE = 0, - NAV_STATE_READY, - NAV_STATE_LOITER, - NAV_STATE_MISSION, - NAV_STATE_RTL, - NAV_STATE_LAND, - NAV_STATE_MAX -} nav_state_t; - struct vehicle_control_mode_s { uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */ - main_state_t main_state; - nav_state_t nav_state; - bool flag_armed; bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */ @@ -86,14 +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_termination_enabled; /**< true if flighttermination is enabled */ + bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */ + bool flag_control_termination_enabled; /**< true if flighttermination is enabled */ }; /** diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h index ae771ca00..ff9e98e1c 100644 --- a/src/modules/uORB/topics/vehicle_global_position.h +++ b/src/modules/uORB/topics/vehicle_global_position.h @@ -61,17 +61,21 @@ */ struct vehicle_global_position_s { - uint64_t timestamp; /**< time of this estimate, in microseconds since system start */ - uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ - bool valid; /**< true if position satisfies validity criteria of estimator */ + uint64_t timestamp; /**< Time of this estimate, in microseconds since system start */ + bool global_valid; /**< true if position satisfies validity criteria of estimator */ + bool baro_valid; /**< true if baro_alt is valid (vel_d is also valid in this case) */ + + uint64_t time_gps_usec; /**< GPS timestamp in microseconds */ double lat; /**< Latitude in degrees */ double lon; /**< Longitude in degrees */ - float alt; /**< Altitude in meters */ + float alt; /**< Altitude AMSL in meters */ float vel_n; /**< Ground north velocity, m/s */ float vel_e; /**< Ground east velocity, m/s */ float vel_d; /**< Ground downside velocity, m/s */ float yaw; /**< Yaw in radians -PI..+PI. */ + + float baro_alt; /**< Barometric altitude (not raw baro but fused with accelerometer) */ }; /** diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index a5988d3ba..5d40554fd 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -54,6 +54,8 @@ #include <stdbool.h> #include "../uORB.h" +#include <navigator/navigator_state.h> + /** * @addtogroup topics @{ */ @@ -206,6 +208,7 @@ struct vehicle_status_s bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception lost */ + bool rc_input_blocked; /**< set if RC input should be ignored */ bool offboard_control_signal_found_once; bool offboard_control_signal_lost; |