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Allow to in-air restore the FMU and IO arming state if only one of the two fails

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Lorenz Meier
2013-02-17 16:06:33 +01:00
parent 6bd18e46bb
commit 038037d676
5 changed files with 207 additions and 41 deletions
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apps/uORB/topics/vehicle_status.h
+5 -2
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@@ -156,7 +156,9 @@ 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 VEHICLE_TYPE enum */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
/* system flags - these represent the state predicates */
@@ -171,7 +173,7 @@ struct vehicle_status_s
bool flag_control_position_enabled; /**< true if position is controlled */
bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */
bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
bool flag_preflight_accel_calibration;
bool rc_signal_found_once;
@@ -209,6 +211,7 @@ struct vehicle_status_s
bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_valid_launch_position; /**< indicates a valid launch position */
bool flag_valid_home_position; /**< indicates a valid home position (a valid home position is not always a valid launch) */
};
/**