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commander preflight checks: new structure using events interface
- Reporter class that keeps track of results (list of events + whether arming is possible + health). And only reports when one or more checks change.
This commit is contained in:
Beat Küng
+222
-1
@@ -4,6 +4,207 @@
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"1": {
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"namespace": "px4",
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"enums": {
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"navigation_mode_group_t": {
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"type": "uint32_t",
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"description": "Navigation/flight mode group bits. All modes within a group share the same arming checks. For now we directly map group == mode.",
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"is_bitfield": true,
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"entries": {
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"1": {
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"name": "manual",
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"description": "Fully manual mode (w/o any controller support)"
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},
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"2": {
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"name": "altctl",
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"description": "Altitude mode"
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},
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"4": {
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"name": "posctl",
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"description": "Position mode"
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},
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"8": {
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"name": "mission",
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"description": "Mission mode"
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},
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"16": {
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"name": "loiter",
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"description": "Loiter"
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},
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"32": {
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"name": "rtl",
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"description": "RTL"
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},
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"1024": {
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"name": "acro",
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"description": "Acro"
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},
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"16384": {
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"name": "offboard",
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"description": "Offboard"
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},
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"32768": {
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"name": "stab",
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"description": "Stabilized"
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},
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"131072": {
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"name": "takeoff",
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"description": "Takeoff"
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},
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"262144": {
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"name": "land",
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"description": "Land"
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},
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"524288": {
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"name": "follow_target",
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"description": "Follow Target"
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},
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"1048576": {
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"name": "precland",
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"description": "Precision Land"
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},
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"2097152": {
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"name": "orbit",
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"description": "Orbit"
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},
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"4194304": {
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"name": "vtol_takeoff",
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"description": "VTOL Takeoff"
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}
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}
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},
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"health_component_t": {
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"type": "uint32_t",
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"description": "Bitfield for subsystems & components",
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"is_bitfield": true,
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"entries": {
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"1": {
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"name": "none",
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"description": "None",
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"comment": "Not assigned to any component"
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},
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"2": {
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"name": "absolute_pressure",
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"description": "Absolute pressure"
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},
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"4": {
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"name": "differential_pressure",
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"description": "Differential pressure"
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},
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"8": {
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"name": "gps",
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"description": "GPS"
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},
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"16": {
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"name": "optical_flow",
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"description": "Optical flow"
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},
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"32": {
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"name": "vision_position",
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"description": "Vision position estimate"
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},
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"64": {
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"name": "distance_sensor",
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"description": "Distance sensor"
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},
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"128": {
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"name": "manual_control_input",
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"description": "RC or virtual joystick input"
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},
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"256": {
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"name": "motors_escs",
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"description": "Motors/ESCs"
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},
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"512": {
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"name": "utm",
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"description": "UTM"
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},
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"1024": {
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"name": "logging",
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"description": "Logging"
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},
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"2048": {
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"name": "battery",
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"description": "Battery"
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},
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"4096": {
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"name": "communication_links",
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"description": "Communication links"
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},
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"8192": {
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"name": "rate_controller",
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"description": "Rate controller"
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},
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"16384": {
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"name": "attitude_controller",
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"description": "Attitude controller"
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},
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"32768": {
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"name": "position_controller",
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"description": "Position controller"
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},
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"65536": {
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"name": "attitude_estimate",
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"description": "Attitude estimate"
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},
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"131072": {
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"name": "local_position_estimate",
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"description": "Local position estimate"
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},
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"262144": {
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"name": "mission",
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"description": "Mission"
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},
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"524288": {
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"name": "avoidance",
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"description": "Avoidance"
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},
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"1048576": {
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"name": "system",
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"description": "System",
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"comment": "e.g. CPU or RAM"
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},
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"2097152": {
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"name": "camera",
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"description": "Camera"
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},
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"4194304": {
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"name": "gimbal",
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"description": "Gimbal"
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},
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"8388608": {
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"name": "payload",
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"description": "Payload"
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},
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"16777216": {
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"name": "global_position_estimate",
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"description": "Global position estimate"
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},
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"33554432": {
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"name": "storage",
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"description": "Storage",
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"comment": "e.g. SD card or FRAM"
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},
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"67108864": {
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"name": "parachute",
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"description": "Parachute"
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},
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"134217728": {
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"name": "magnetometer",
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"description": "Magnetometer"
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},
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"268435456": {
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"name": "accel",
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"description": "Accelerometer"
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},
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"536870912": {
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"name": "gyro",
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"description": "Gyroscope"
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},
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"1073741824": {
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"name": "remote_control",
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"description": "Remote Control"
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}
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}
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},
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"sensor_type_t": {
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"type": "uint8_t",
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"description": "Sensor type for failover reporting",
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@@ -381,7 +582,27 @@
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}
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}
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}
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}
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},
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"navigation_mode_groups": {
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"groups": {
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"0": [65536],
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"1": [131072],
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"2": [196608],
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"3": [67371008],
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"4": [50593792],
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"5": [84148224],
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"10": [327680],
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"14": [393216],
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"15": [458752],
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"17": [33816576],
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"18": [100925440],
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"19": [134479872],
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"20": [151257088],
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"21": [16973824],
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"22": [168034304]
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}
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},
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"supported_protocols": [ "health_and_arming_check" ]
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}
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}
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}
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