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/****************************************************************************
*
* 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 flag_system_armed; /**< true is motors / actuators are armed */
bool flag_system_emergency;
bool flag_system_in_air_restore; /**< true if we can restore in mid air */
bool flag_system_sensors_initialized;
bool flag_system_arming_requested;
bool flag_system_disarming_requested;
bool flag_system_reboot_requested;
bool flag_system_returned_to_home;
bool flag_auto_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_hil_enabled; /**< true if hardware in the loop simulation is 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 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;
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) */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_status);
#endif
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