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Removed compile errors, removed non-wanted MAVLink dependency in commander app

This commit is contained in:
Lorenz Meier 2012-12-30 11:01:09 +01:00
parent 62a95bf8e6
commit 2577e1a749
4 changed files with 157 additions and 101 deletions
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136
apps/commander/commander.c
View File

@ -59,7 +59,6 @@
#include <errno.h>
#include <debug.h>
#include <sys/prctl.h>
#include <v1.0/common/mavlink.h>
#include <string.h>
#include <drivers/drv_led.h>
#include <drivers/drv_hrt.h>
@ -773,7 +772,7 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = MAV_RESULT_UNSUPPORTED;
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* announce command handling */
tune_confirm();
@ -783,99 +782,74 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
/* request to set different system mode */
switch (cmd->command) {
case MAV_CMD_DO_SET_MODE:
case VEHICLE_CMD_DO_SET_MODE:
{
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, (uint8_t)cmd->param1)) {
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
}
break;
case MAV_CMD_COMPONENT_ARM_DISARM: {
case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
/* request to arm */
if ((int)cmd->param1 == 1) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
/* request to disarm */
} else if ((int)cmd->param1 == 0) {
if (OK == update_state_machine_mode_request(status_pub, current_vehicle_status, mavlink_fd, VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
}
}
break;
/* request for an autopilot reboot */
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
case VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN: {
if ((int)cmd->param1 == 1) {
if (OK == do_state_update(status_pub, current_vehicle_status, mavlink_fd, SYSTEM_STATE_REBOOT)) {
/* SPECIAL CASE: SYSTEM WILL NEVER RETURN HERE */
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
/* system may return here */
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
}
}
break;
case PX4_CMD_CONTROLLER_SELECTION: {
bool changed = false;
if ((int)cmd->param1 != (int)current_vehicle_status->flag_control_rates_enabled) {
current_vehicle_status->flag_control_rates_enabled = cmd->param1;
changed = true;
}
if ((int)cmd->param2 != (int)current_vehicle_status->flag_control_attitude_enabled) {
current_vehicle_status->flag_control_attitude_enabled = cmd->param2;
changed = true;
}
if ((int)cmd->param3 != (int)current_vehicle_status->flag_control_velocity_enabled) {
current_vehicle_status->flag_control_velocity_enabled = cmd->param3;
changed = true;
}
if ((int)cmd->param4 != (int)current_vehicle_status->flag_control_position_enabled) {
current_vehicle_status->flag_control_position_enabled = cmd->param4;
changed = true;
}
if (changed) {
/* publish current state machine */
state_machine_publish(status_pub, current_vehicle_status, mavlink_fd);
}
}
// /* request to land */
// case MAV_CMD_NAV_LAND:
// case VEHICLE_CMD_NAV_LAND:
// {
// //TODO: add check if landing possible
// //TODO: add landing maneuver
//
// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_ARMED)) {
// result = MAV_RESULT_ACCEPTED;
// result = VEHICLE_CMD_RESULT_ACCEPTED;
// } }
// break;
//
// /* request to takeoff */
// case MAV_CMD_NAV_TAKEOFF:
// case VEHICLE_CMD_NAV_TAKEOFF:
// {
// //TODO: add check if takeoff possible
// //TODO: add takeoff maneuver
//
// if (0 == update_state_machine_custom_mode_request(status_pub, current_vehicle_status, SYSTEM_STATE_AUTO)) {
// result = MAV_RESULT_ACCEPTED;
// result = VEHICLE_CMD_RESULT_ACCEPTED;
// }
// }
// break;
//
/* preflight calibration */
case MAV_CMD_PREFLIGHT_CALIBRATION: {
case VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
bool handled = false;
/* gyro calibration */
@ -890,10 +864,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] finished gyro calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING gyro calibration");
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@ -910,10 +884,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] finished mag calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@ -928,7 +902,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
tune_confirm();
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@ -945,10 +919,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] finished trim calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@ -965,10 +939,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
tune_confirm();
mavlink_log_info(mavlink_fd, "[cmd] CMD finished accel calibration");
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING accel calibration");
result = MAV_RESULT_DENIED;
result = VEHICLE_CMD_RESULT_DENIED;
}
handled = true;
}
@ -977,16 +951,16 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (!handled) {
//fprintf(stderr, "[cmd] refusing unsupported calibration request\n");
mavlink_log_critical(mavlink_fd, "[cmd] CMD refusing unsup. calib. request");
result = MAV_RESULT_UNSUPPORTED;
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
}
}
break;
case MAV_CMD_PREFLIGHT_STORAGE: {
case VEHICLE_CMD_PREFLIGHT_STORAGE: {
if (current_status.flag_system_armed &&
((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR))) {
((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
/* do not perform expensive memory tasks on multirotors in flight */
// XXX this is over-safe, as soon as cmd is in low prio thread this can be allowed
mavlink_log_info(mavlink_fd, "[cmd] REJECTING save cmd while multicopter armed");
@ -1003,11 +977,11 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
//printf("[mavlink pm] Loaded EEPROM params in RAM\n");
mavlink_log_info(mavlink_fd, "[cmd] OK loading params from");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else if (read_ret == 1) {
mavlink_log_info(mavlink_fd, "[cmd] OK no changes in");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
if (read_ret < -1) {
mavlink_log_info(mavlink_fd, "[cmd] ERR loading params from");
@ -1016,7 +990,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] ERR no param file named");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
result = VEHICLE_CMD_RESULT_FAILED;
}
} else if (((int)(cmd->param1)) == 1) {
@ -1026,7 +1000,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
if (write_ret == OK) {
mavlink_log_info(mavlink_fd, "[cmd] OK saved param file");
mavlink_log_info(mavlink_fd, param_get_default_file());
result = MAV_RESULT_ACCEPTED;
result = VEHICLE_CMD_RESULT_ACCEPTED;
} else {
if (write_ret < -1) {
@ -1036,12 +1010,12 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
mavlink_log_info(mavlink_fd, "[cmd] ERR writing params to");
mavlink_log_info(mavlink_fd, param_get_default_file());
}
result = MAV_RESULT_FAILED;
result = VEHICLE_CMD_RESULT_FAILED;
}
} else {
mavlink_log_info(mavlink_fd, "[pm] refusing unsupp. STOR request");
result = MAV_RESULT_UNSUPPORTED;
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
}
}
}
@ -1049,7 +1023,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
default: {
mavlink_log_critical(mavlink_fd, "[cmd] refusing unsupported command");
result = MAV_RESULT_UNSUPPORTED;
result = VEHICLE_CMD_RESULT_UNSUPPORTED;
/* announce command rejection */
ioctl(buzzer, TONE_SET_ALARM, 4);
}
@ -1057,11 +1031,11 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
}
/* supported command handling stop */
if (result == MAV_RESULT_FAILED ||
result == MAV_RESULT_DENIED ||
result == MAV_RESULT_UNSUPPORTED) {
if (result == VEHICLE_CMD_RESULT_FAILED ||
result == VEHICLE_CMD_RESULT_DENIED ||
result == VEHICLE_CMD_RESULT_UNSUPPORTED) {
ioctl(buzzer, TONE_SET_ALARM, 5);
} else if (result == MAV_RESULT_ACCEPTED) {
} else if (result == VEHICLE_CMD_RESULT_ACCEPTED) {
tune_confirm();
}
@ -1240,7 +1214,7 @@ int commander_thread_main(int argc, char *argv[])
failsafe_lowlevel_timeout_ms = 0;
param_get(param_find("SYS_FAILSAVE_LL"), &failsafe_lowlevel_timeout_ms);
param_t _param_sys_type = param_find("MAV_TYPE");
param_t _param_sys_type = param_find("VEHICLE_TYPE");
/* welcome user */
printf("[cmd] I am in command now!\n");
@ -1411,9 +1385,9 @@ int commander_thread_main(int argc, char *argv[])
warnx("failed setting new system type");
}
/* disable manual override for all systems that rely on electronic stabilization */
if (current_status.system_type == MAV_TYPE_QUADROTOR ||
current_status.system_type == MAV_TYPE_HEXAROTOR ||
current_status.system_type == MAV_TYPE_OCTOROTOR) {
if (current_status.system_type == VEHICLE_TYPE_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_HEXAROTOR ||
current_status.system_type == VEHICLE_TYPE_OCTOROTOR) {
current_status.flag_external_manual_override_ok = false;
} else {
current_status.flag_external_manual_override_ok = true;
@ -1691,9 +1665,9 @@ int commander_thread_main(int argc, char *argv[])
// printf("man mode sw not finite\n");
// /* this switch is not properly mapped, set default */
// if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
// (current_status.system_type == MAV_TYPE_HEXAROTOR) ||
// (current_status.system_type == MAV_TYPE_OCTOROTOR)) {
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
@ -1710,9 +1684,9 @@ int commander_thread_main(int argc, char *argv[])
// } else if (sp_man.manual_mode_switch < -STICK_ON_OFF_LIMIT) {
// /* bottom stick position, set direct mode for vehicles supporting it */
// if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
// (current_status.system_type == MAV_TYPE_HEXAROTOR) ||
// (current_status.system_type == MAV_TYPE_OCTOROTOR)) {
// if ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
// (current_status.system_type == VEHICLE_TYPE_OCTOROTOR)) {
// /* assuming a rotary wing, fall back to SAS */
// current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
@ -1769,9 +1743,9 @@ int commander_thread_main(int argc, char *argv[])
* Check if left stick is in lower left position --> switch to standby state.
* Do this only for multirotors, not for fixed wing aircraft.
*/
if (((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR)
if (((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR)
) &&
((sp_man.yaw < -STICK_ON_OFF_LIMIT)) &&
(sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {

18
apps/commander/state_machine_helper.c
View File

@ -522,20 +522,20 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flag_control_manual_enabled = true;
/* set behaviour based on airframe */
if ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR)) {
if ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR)) {
/* assuming a rotary wing, set to SAS */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = true;
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
} else {
/* assuming a fixed wing, set to direct pass-through */
current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = false;
current_status->manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT;
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_rates_enabled = false;
}
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);

77
apps/uORB/topics/vehicle_command.h
View File

@ -50,20 +50,77 @@
* @{
*/
enum PX4_CMD {
PX4_CMD_CONTROLLER_SELECTION = 1000,
/**
* Commands for commander app.
*
* Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
* but can contain additional ones.
*/
enum VEHICLE_CMD
{
VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */
VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */
VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */
VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */
VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */
VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */
VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */
VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */
VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */
VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */
VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */
VEHICLE_CMD_ENUM_END=401, /* | */
};
/**
* Commands for commander app.
*
* Should contain all of MAVLink's VEHICLE_CMD_RESULT values
* but can contain additional ones.
*/
enum VEHICLE_CMD_RESULT
{
VEHICLE_CMD_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
VEHICLE_CMD_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
VEHICLE_CMD_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
VEHICLE_CMD_RESULT_FAILED=4, /* Command executed, but failed | */
VEHICLE_CMD_RESULT_ENUM_END=5, /* | */
};
struct vehicle_command_s
{
float param1; /**< Parameter 1, as defined by MAVLink MAV_CMD enum. */
float param2; /**< Parameter 2, as defined by MAVLink MAV_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink MAV_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink MAV_CMD enum. */
float param5; /**< Parameter 5, as defined by MAVLink MAV_CMD enum. */
float param6; /**< Parameter 6, as defined by MAVLink MAV_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink MAV_CMD enum. */
uint16_t command; /**< Command ID, as defined MAVLink by MAV_CMD enum. */
float param1; /**< Parameter 1, as defined by MAVLink VEHICLE_CMD enum. */
float param2; /**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum. */
float param5; /**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum. */
float param6; /**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum. */
uint16_t command; /**< Command ID, as defined MAVLink by VEHICLE_CMD enum. */
uint8_t target_system; /**< System which should execute the command */
uint8_t target_component; /**< Component which should execute the command, 0 for all components */
uint8_t source_system; /**< System sending the command */

27
apps/uORB/topics/vehicle_status.h
View File

@ -106,6 +106,31 @@ enum VEHICLE_MANUAL_SAS_MODE {
VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */
};
/**
* 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, /* | */
};
/**
* state machine / state of vehicle.
*
@ -124,7 +149,7 @@ struct vehicle_status_s
enum VEHICLE_FLIGHT_MODE flight_mode; /**< current flight mode, as defined by mode switch */
enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode; /**< current stabilization mode */
int32_t system_type; /**< system type, inspired by MAVLinks MAV_TYPE enum */
int32_t system_type; /**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
/* system flags - these represent the state predicates */