forked from Archive/PX4-Autopilot
103 lines
4.8 KiB
Plaintext
103 lines
4.8 KiB
Plaintext
# If you change the order, add or remove arming_state_t states make sure to update the arrays
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# in state_machine_helper.cpp as well.
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uint64 timestamp # time since system start (microseconds)
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uint8 ARMING_STATE_INIT = 0
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uint8 ARMING_STATE_STANDBY = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 ARMING_STATE_STANDBY_ERROR = 3
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uint8 ARMING_STATE_SHUTDOWN = 4
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uint8 ARMING_STATE_IN_AIR_RESTORE = 5
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uint8 ARMING_STATE_MAX = 6
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# FailureDetector status
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uint8 FAILURE_NONE = 0
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uint8 FAILURE_ROLL = 1 # (1 << 0)
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uint8 FAILURE_PITCH = 2 # (1 << 1)
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uint8 FAILURE_ALT = 4 # (1 << 2)
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# HIL
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# Navigation state, i.e. "what should vehicle do".
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
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uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
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uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
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uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_MAX = 22
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uint8 RC_IN_MODE_DEFAULT = 0
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uint8 RC_IN_MODE_OFF = 1
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uint8 RC_IN_MODE_GENERATED = 2
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uint8 VEHICLE_TYPE_UNKNOWN = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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uint8 VEHICLE_TYPE_ROVER = 3
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# state machine / state of vehicle.
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# Encodes the complete system state and is set by the commander app.
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uint8 nav_state # set navigation state machine to specified value
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uint8 arming_state # current arming state
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uint8 hil_state # current hil state
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 component_id # subsystem / component id, contains MAVLink's component ID field
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uint8 vehicle_type # Type of vehicle (fixed-wing, rotary wing, ground)
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# If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
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# and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
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bool is_vtol # True if the system is VTOL capable
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bool vtol_fw_permanent_stab # True if VTOL should stabilize attitude for fw in manual mode
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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bool rc_signal_lost # true if RC reception lost
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uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
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bool data_link_lost # datalink to GCS lost
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uint8 data_link_lost_counter # counts unique data link lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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bool engine_failure # Set to true if an engine failure is detected
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bool mission_failure # Set to true if mission could not continue/finish
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uint8 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
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# see SYS_STATUS mavlink message for the following
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uint32 onboard_control_sensors_present
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uint32 onboard_control_sensors_enabled
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uint32 onboard_control_sensors_health
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# airspeed fault and airspeed use status
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float32 arspd_check_level # integrated airspeed inconsistency as checked against the COM_TAS_FS_INTEG parameter
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bool aspd_check_failing # true when airspeed consistency checks are failing
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bool aspd_fault_declared # true when an airspeed fault has been declared
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bool aspd_use_inhibit # true if switching to a non-airspeed control mode has been requested
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bool aspd_fail_rtl # true if airspeed failure invoked RTL has been requested
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float32 load_factor_ratio # ratio of measured to aerodynamic load factor limit. Greater than 1 indicates airspeed low error condition.
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