forked from Archive/PX4-Autopilot
185 lines
8.7 KiB
Plaintext
185 lines
8.7 KiB
Plaintext
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
|
|
uint8 MAIN_STATE_MANUAL = 0
|
|
uint8 MAIN_STATE_ALTCTL = 1
|
|
uint8 MAIN_STATE_POSCTL = 2
|
|
uint8 MAIN_STATE_AUTO_MISSION = 3
|
|
uint8 MAIN_STATE_AUTO_LOITER = 4
|
|
uint8 MAIN_STATE_AUTO_RTL = 5
|
|
uint8 MAIN_STATE_ACRO = 6
|
|
uint8 MAIN_STATE_OFFBOARD = 7
|
|
uint8 MAIN_STATE_STAB = 8
|
|
uint8 MAIN_STATE_RATTITUDE = 9
|
|
uint8 MAIN_STATE_MAX = 10
|
|
|
|
# If you change the order, add or remove arming_state_t states make sure to update the arrays
|
|
# in state_machine_helper.cpp as well.
|
|
uint8 ARMING_STATE_INIT = 0
|
|
uint8 ARMING_STATE_STANDBY = 1
|
|
uint8 ARMING_STATE_ARMED = 2
|
|
uint8 ARMING_STATE_ARMED_ERROR = 3
|
|
uint8 ARMING_STATE_STANDBY_ERROR = 4
|
|
uint8 ARMING_STATE_REBOOT = 5
|
|
uint8 ARMING_STATE_IN_AIR_RESTORE = 6
|
|
uint8 ARMING_STATE_MAX = 7
|
|
|
|
uint8 HIL_STATE_OFF = 0
|
|
uint8 HIL_STATE_ON = 1
|
|
|
|
# Navigation state, i.e. "what should vehicle do".
|
|
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
|
|
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
|
|
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
|
|
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
|
|
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
|
|
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
|
|
uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
|
|
uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
|
|
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
|
|
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
|
|
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
|
uint8 NAVIGATION_STATE_LAND = 11 # Land mode
|
|
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
|
|
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
|
|
uint8 NAVIGATION_STATE_OFFBOARD = 14
|
|
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
|
|
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
|
|
uint8 NAVIGATION_STATE_MAX = 17
|
|
|
|
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
|
|
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128
|
|
uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
|
|
uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32
|
|
uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16
|
|
uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8
|
|
uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4
|
|
uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2
|
|
uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
|
|
|
|
# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM
|
|
uint8 VEHICLE_TYPE_GENERIC = 0 # Generic micro air vehicle.
|
|
uint8 VEHICLE_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
|
|
uint8 VEHICLE_TYPE_QUADROTOR = 2 # Quadrotor
|
|
uint8 VEHICLE_TYPE_COAXIAL = 3 # Coaxial helicopter
|
|
uint8 VEHICLE_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
|
|
uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5 # Ground installation
|
|
uint8 VEHICLE_TYPE_GCS = 6 # Operator control unit / ground control station
|
|
uint8 VEHICLE_TYPE_AIRSHIP = 7 # Airship, controlled
|
|
uint8 VEHICLE_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
|
|
uint8 VEHICLE_TYPE_ROCKET = 9 # Rocket
|
|
uint8 VEHICLE_TYPE_GROUND_ROVER = 10 # Ground rover
|
|
uint8 VEHICLE_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
|
|
uint8 VEHICLE_TYPE_SUBMARINE = 12 # Submarine
|
|
uint8 VEHICLE_TYPE_HEXAROTOR = 13 # Hexarotor
|
|
uint8 VEHICLE_TYPE_OCTOROTOR = 14 # Octorotor
|
|
uint8 VEHICLE_TYPE_TRICOPTER = 15 # Octorotor
|
|
uint8 VEHICLE_TYPE_FLAPPING_WING = 16 # Flapping wing
|
|
uint8 VEHICLE_TYPE_KITE = 17 # Kite
|
|
uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18 # Onboard companion controller
|
|
uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19 # Vtol with two engines
|
|
uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20 # Vtol with four engines
|
|
uint8 VEHICLE_TYPE_VTOL_HEXAROTOR = 21 # Vtol with six engines
|
|
uint8 VEHICLE_TYPE_VTOL_OCTOROTOR = 22 # Vtol with eight engines
|
|
uint8 VEHICLE_TYPE_ENUM_END = 23
|
|
|
|
# VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
|
uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
|
|
uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
|
|
uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
|
|
uint8 VEHICLE_VTOL_STATE_MC = 3
|
|
uint8 VEHICLE_VTOL_STATE_FW = 4
|
|
|
|
uint8 VEHICLE_BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
|
|
uint8 VEHICLE_BATTERY_WARNING_LOW = 1 # warning of low voltage
|
|
uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2 # alerting of critical voltage
|
|
|
|
uint8 RC_IN_MODE_DEFAULT = 0
|
|
uint8 RC_IN_MODE_OFF = 1
|
|
uint8 RC_IN_MODE_GENERATED = 2
|
|
|
|
# state machine / state of vehicle.
|
|
# Encodes the complete system state and is set by the commander app.
|
|
uint16 counter # incremented by the writing thread everytime new data is stored
|
|
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
|
|
|
|
uint8 main_state # main state machine
|
|
uint8 nav_state # set navigation state machine to specified value
|
|
uint8 arming_state # current arming state
|
|
uint8 hil_state # current hil state
|
|
bool failsafe # true if system is in failsafe state
|
|
bool calibration_enabled # true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
|
|
|
|
int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum
|
|
uint32 system_id # system id, inspired by MAVLink's system ID field
|
|
uint32 component_id # subsystem / component id, inspired by MAVLink's component ID field
|
|
|
|
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
|
|
bool is_vtol # True if the system is VTOL capable
|
|
bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
|
|
bool in_transition_mode
|
|
|
|
bool condition_battery_voltage_valid
|
|
bool condition_system_in_air_restore # true if we can restore in mid air
|
|
bool condition_system_sensors_initialized
|
|
bool condition_system_prearm_error_reported # true if errors have already been reported
|
|
bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
|
|
bool condition_system_returned_to_home
|
|
bool condition_auto_mission_available
|
|
bool condition_global_position_valid # set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
|
|
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_local_altitude_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 condition_power_input_valid # set if input power is valid
|
|
float32 avionics_power_rail_voltage # voltage of the avionics power rail
|
|
bool usb_connected # status of the USB power supply
|
|
|
|
bool rc_signal_found_once
|
|
bool rc_signal_lost # true if RC reception lost
|
|
uint64 rc_signal_lost_timestamp # Time at which the RC reception was lost
|
|
bool rc_signal_lost_cmd # true if RC lost mode is commanded
|
|
bool rc_input_blocked # set if RC input should be ignored temporarily
|
|
uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
|
|
|
|
bool data_link_lost # datalink to GCS lost
|
|
bool data_link_lost_cmd # datalink to GCS lost mode commanded
|
|
uint8 data_link_lost_counter # counts unique data link lost events
|
|
bool engine_failure # Set to true if an engine failure is detected
|
|
bool engine_failure_cmd # Set to true if an engine failure mode is commanded
|
|
bool gps_failure # Set to true if a gps failure is detected
|
|
bool gps_failure_cmd # Set to true if a gps failure mode is commanded
|
|
|
|
bool barometer_failure # Set to true if a barometer failure is detected
|
|
|
|
bool offboard_control_signal_found_once
|
|
bool offboard_control_signal_lost
|
|
bool offboard_control_signal_weak
|
|
uint64 offboard_control_signal_lost_interval # interval in microseconds without an offboard control message
|
|
bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC
|
|
|
|
# see SYS_STATUS mavlink message for the following
|
|
uint32 onboard_control_sensors_present
|
|
uint32 onboard_control_sensors_enabled
|
|
uint32 onboard_control_sensors_health
|
|
|
|
float32 load # processor load from 0 to 1
|
|
float32 battery_voltage
|
|
float32 battery_current
|
|
float32 battery_remaining
|
|
float32 battery_discharged_mah
|
|
uint32 battery_cell_count
|
|
|
|
uint8 battery_warning # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum
|
|
uint16 drop_rate_comm
|
|
uint16 errors_comm
|
|
uint16 errors_count1
|
|
uint16 errors_count2
|
|
uint16 errors_count3
|
|
uint16 errors_count4
|
|
|
|
bool circuit_breaker_engaged_power_check
|
|
bool circuit_breaker_engaged_airspd_check
|
|
bool circuit_breaker_engaged_enginefailure_check
|
|
bool circuit_breaker_engaged_gpsfailure_check
|
|
bool cb_usb
|