forked from Archive/PX4-Autopilot
167 lines
6.5 KiB
C
167 lines
6.5 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vehicle_status.h
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* Definition of the vehicle_status uORB topic.
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*
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* Published the state machine and the system status bitfields
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* (see SYS_STATUS mavlink message), published only by commander app.
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*
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* All apps should write to subsystem_info:
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*
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* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
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*/
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#ifndef VEHICLE_STATUS_H_
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#define VEHICLE_STATUS_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics @{
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*/
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/* State Machine */
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typedef enum
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{
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SYSTEM_STATE_PREFLIGHT = 0,
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SYSTEM_STATE_STANDBY = 1,
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SYSTEM_STATE_GROUND_READY = 2,
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SYSTEM_STATE_MANUAL = 3,
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SYSTEM_STATE_STABILIZED = 4,
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SYSTEM_STATE_AUTO = 5,
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SYSTEM_STATE_MISSION_ABORT = 6,
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SYSTEM_STATE_EMCY_LANDING = 7,
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SYSTEM_STATE_EMCY_CUTOFF = 8,
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SYSTEM_STATE_GROUND_ERROR = 9,
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SYSTEM_STATE_REBOOT= 10,
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} commander_state_machine_t;
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enum VEHICLE_MODE_FLAG {
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VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
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VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
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VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
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VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16,
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VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
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VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
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VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
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VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
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}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
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enum VEHICLE_FLIGHT_MODE {
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VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */
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VEHICLE_FLIGHT_MODE_ATTITUDE, /**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */
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VEHICLE_FLIGHT_MODE_STABILIZED, /**< attitude or rate stabilization plus velocity or position stabilization */
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VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
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};
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enum VEHICLE_ATTITUDE_MODE {
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VEHICLE_ATTITUDE_MODE_DIRECT, /**< no attitude control, direct stick input mixing (only fixed wing) */
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VEHICLE_ATTITUDE_MODE_RATES, /**< body rates control mode */
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VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */
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};
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/**
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* state machine / state of vehicle.
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*
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* Encodes the complete system state and is set by the commander app.
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*/
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struct vehicle_status_s
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{
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/* use of a counter and timestamp recommended (but not necessary) */
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uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
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commander_state_machine_t state_machine; /**< Current flight state, main state machine */
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enum VEHICLE_FLIGHT_MODE flight_mode; /**< Current flight mode, as defined by mode switch */
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enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< Current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
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// uint8_t mode;
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/* system flags - these represent the state predicates */
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bool flag_system_armed; /**< True is motors / actuators are armed */
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bool flag_control_manual_enabled; /**< true if manual input is mixed in */
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bool flag_hil_enabled; /**< True if hardware in the loop simulation is enabled */
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// bool flag_control_rates_enabled; /**< true if rates are stabilized */
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// bool flag_control_attitude_enabled; *< true if attitude stabilization is mixed in
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// bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
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// bool control_position_enabled; /**< true if position is controlled */
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bool preflight_gyro_calibration; /**< true if gyro calibration is requested */
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bool preflight_mag_calibration; /**< true if mag calibration is requested */
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bool rc_signal_lost; /**< true if RC reception is terminally lost */
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bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
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uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */
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/* see SYS_STATUS mavlink message for the following */
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uint32_t onboard_control_sensors_present;
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uint32_t onboard_control_sensors_enabled;
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uint32_t onboard_control_sensors_health;
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float load;
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float voltage_battery;
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float current_battery;
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float battery_remaining;
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uint16_t drop_rate_comm;
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uint16_t errors_comm;
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uint16_t errors_count1;
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uint16_t errors_count2;
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uint16_t errors_count3;
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uint16_t errors_count4;
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// bool remote_manual; /**< set to true by the commander when the manual-switch on the remote is set to manual */
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bool gps_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 */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_status);
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#endif
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