fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-12 18:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

WIP: commander arming simple

Browse Source
This commit is contained in:
Daniel Agar
2022-05-20 12:12:21 -04:00
parent 33a77c225c
commit 0d30e192dc
24 changed files with 582 additions and 1400 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_command.msg
+1
View File
@@ -72,6 +72,7 @@ uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item:
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command|configuration|Empty|Empty|Empty|output function|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
msg/vehicle_status.msg
+3 -7
View File
@@ -1,12 +1,8 @@
uint64 timestamp # time since system start (microseconds)
uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_STANDBY_ERROR = 3
uint8 ARMING_STATE_SHUTDOWN = 4
uint8 ARMING_STATE_IN_AIR_RESTORE = 5
uint8 ARMING_STATE_MAX = 6
uint8 ARMING_STATE_DISARMED = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_MAX = 3
# FailureDetector status
uint16 FAILURE_NONE = 0
msg/vehicle_status_flags.msg
+4 -1
View File
@@ -2,8 +2,10 @@
uint64 timestamp # time since system start (microseconds)
bool preflight_check_passing
bool prearm_check_passing
bool calibration_enabled
bool system_sensors_initialized
bool system_hotplug_timeout # true if the hotplug sensor search is over
bool auto_mission_available
bool angular_velocity_valid
@@ -18,6 +20,7 @@ bool power_input_valid # set if input power is valid
bool battery_healthy # set if battery is available and not low
bool escs_error # set to true if one or more ESCs reporting esc_status are offline
bool escs_failure # set to true if one or more ESCs reporting esc_status has a failure
bool overload # maximum cpuload exceeded or free memory dangerously low
bool position_reliant_on_gps
bool position_reliant_on_optical_flow