From 8c1067a017714394955892e3159c8e0c61bd4ba1 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 28 Jul 2013 23:12:16 +0400 Subject: State machine rewritten, compiles, WIP --- src/modules/uORB/topics/vehicle_status.h | 55 +++++++++++++++++--------------- 1 file changed, 29 insertions(+), 26 deletions(-) (limited to 'src/modules/uORB/topics/vehicle_status.h') diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index 9b91e834e..e7feaa98e 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -58,29 +58,28 @@ * @addtogroup topics @{ */ -/* State Machine */ +/* main state machine */ typedef enum { - NAVIGATION_STATE_INIT = 0, - NAVIGATION_STATE_MANUAL_STANDBY, - NAVIGATION_STATE_MANUAL, - NAVIGATION_STATE_ASSISTED_STANDBY, - NAVIGATION_STATE_ASSISTED_SEATBELT, - NAVIGATION_STATE_ASSISTED_SIMPLE, - NAVIGATION_STATE_ASSISTED_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; + MAIN_STATE_MANUAL = 0, + MAIN_STATE_SEATBELT, + MAIN_STATE_EASY, + MAIN_STATE_AUTO, +} main_state_t; +/* navigation state machine */ typedef enum { - MANUAL_STANDBY = 0, - MANUAL_READY, - MANUAL_IN_AIR -} manual_state_t; + NAVIGATION_STATE_STANDBY = 0, // standby state, disarmed + NAVIGATION_STATE_DIRECT, // true manual control, no any stabilization + NAVIGATION_STATE_STABILIZE, // attitude stabilization + NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization + NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization + NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff + NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode + NAVIGATION_STATE_AUTO_LOITER, // pause mission + NAVIGATION_STATE_AUTO_MISSION, // fly mission + NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND + NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector) +} navigation_state_t; typedef enum { ARMING_STATE_INIT = 0, @@ -103,16 +102,16 @@ typedef enum { 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_RETURN } return_switch_pos_t; -typedef enum { - ASSISTED_SWITCH_SEATBELT = 0, - ASSISTED_SWITCH_SIMPLE -} assisted_switch_pos_t; - typedef enum { MISSION_SWITCH_NONE = 0, MISSION_SWITCH_MISSION @@ -175,7 +174,8 @@ struct vehicle_status_s 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 */ + main_state_t main_state; /**< main state machine */ + navigation_state_t navigation_state; /**< navigation state machine */ arming_state_t arming_state; /**< current arming state */ hil_state_t hil_state; /**< current hil state */ @@ -183,6 +183,8 @@ struct vehicle_status_s 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 */ + bool is_rotary_wing; + mode_switch_pos_t mode_switch; return_switch_pos_t return_switch; assisted_switch_pos_t assisted_switch; @@ -198,6 +200,7 @@ struct vehicle_status_s 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_landed; /**< true if vehicle is landed, always true if disarmed */ bool rc_signal_found_once; bool rc_signal_lost; /**< true if RC reception is terminally lost */ -- cgit v1.2.3