forked from Archive/PX4-Autopilot
73 lines
3.4 KiB
Plaintext
73 lines
3.4 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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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_ARMED_ERROR = 3
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uint8 ARMING_STATE_STANDBY_ERROR = 4
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uint8 ARMING_STATE_REBOOT = 5
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uint8 ARMING_STATE_IN_AIR_RESTORE = 6
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uint8 ARMING_STATE_MAX = 7
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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_MAX = 20
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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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# 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
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint32 system_id # system id, contains MAVLink's system ID field
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uint32 component_id # subsystem / component id, contains MAVLink's component ID field
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bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
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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 engine_failure # Set to true if an engine failure is detected
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bool engine_failure_cmd # Set to true if an engine failure mode is commanded
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bool mission_failure # Set to true if mission could not continue/finish
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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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