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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 16:48:52 +08:00
Checkpoint: Separated all bools in vehicle status into conditions and flags, they should be protected
This commit is contained in:
Julian Oes
+53
-54
@@ -323,8 +323,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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{
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/* set to mag calibration mode */
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status->flag_preflight_mag_calibration = true;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_mag_calibration = true;
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// state_machine_publish(status_pub, status, mavlink_fd);
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int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
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struct mag_report mag;
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@@ -559,8 +559,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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}
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/* disable calibration mode */
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status->flag_preflight_mag_calibration = false;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_mag_calibration = false;
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// state_machine_publish(status_pub, status, mavlink_fd);
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close(sub_mag);
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}
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@@ -568,8 +568,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
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void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
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{
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/* set to gyro calibration mode */
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status->flag_preflight_gyro_calibration = true;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_gyro_calibration = true;
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// state_machine_publish(status_pub, status, mavlink_fd);
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const int calibration_count = 5000;
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@@ -621,8 +621,8 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
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gyro_offset[2] = gyro_offset[2] / calibration_count;
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/* exit gyro calibration mode */
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status->flag_preflight_gyro_calibration = false;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_gyro_calibration = false;
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// state_machine_publish(status_pub, status, mavlink_fd);
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if (isfinite(gyro_offset[0]) && isfinite(gyro_offset[1]) && isfinite(gyro_offset[2])) {
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@@ -679,8 +679,8 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
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mavlink_log_info(mavlink_fd, "keep it level and still");
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/* set to accel calibration mode */
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status->flag_preflight_accel_calibration = true;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_accel_calibration = true;
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// state_machine_publish(status_pub, status, mavlink_fd);
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const int calibration_count = 2500;
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@@ -787,8 +787,8 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
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}
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/* exit accel calibration mode */
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status->flag_preflight_accel_calibration = false;
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state_machine_publish(status_pub, status, mavlink_fd);
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// status->flag_preflight_accel_calibration = false;
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// state_machine_publish(status_pub, status, mavlink_fd);
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close(sub_sensor_combined);
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}
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@@ -1022,7 +1022,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
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break;
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case VEHICLE_CMD_PREFLIGHT_STORAGE: {
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if (current_status.flag_system_armed &&
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if (current_status.flag_fmu_armed &&
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((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
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(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
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(current_status.system_type == VEHICLE_TYPE_OCTOROTOR))) {
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@@ -1327,7 +1327,8 @@ int commander_thread_main(int argc, char *argv[])
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current_status.navigation_state = NAVIGATION_STATE_INIT;
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current_status.arming_state = ARMING_STATE_INIT;
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current_status.hil_state = HIL_STATE_OFF;
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current_status.flag_system_armed = false;
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current_status.flag_fmu_armed = false;
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current_status.flag_io_armed = false; // XXX read this from somewhere
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/* neither manual nor offboard control commands have been received */
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current_status.offboard_control_signal_found_once = false;
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@@ -1341,13 +1342,13 @@ int commander_thread_main(int argc, char *argv[])
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current_status.flag_external_manual_override_ok = true;
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/* flag position info as bad, do not allow auto mode */
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current_status.flag_vector_flight_mode_ok = false;
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// current_status.flag_vector_flight_mode_ok = false;
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/* set battery warning flag */
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current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
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// XXX for now just set sensors as initialized
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current_status.flag_system_sensors_initialized = true;
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current_status.condition_system_sensors_initialized = true;
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/* advertise to ORB */
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stat_pub = orb_advertise(ORB_ID(vehicle_status), ¤t_status);
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@@ -1501,7 +1502,7 @@ int commander_thread_main(int argc, char *argv[])
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/* update parameters */
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if (!current_status.flag_system_armed) {
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if (!current_status.flag_fmu_armed) {
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if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
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warnx("failed setting new system type");
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}
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@@ -1654,7 +1655,7 @@ int commander_thread_main(int argc, char *argv[])
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/* If in INIT state, try to proceed to STANDBY state */
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if (current_status.arming_state == ARMING_STATE_INIT) {
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// XXX fix for now
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current_status.flag_system_sensors_initialized = true;
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current_status.condition_system_sensors_initialized = true;
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arming_state_transition(stat_pub, ¤t_status, ARMING_STATE_STANDBY, mavlink_fd);
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} else {
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// XXX: Add emergency stuff if sensors are lost
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@@ -1671,45 +1672,45 @@ int commander_thread_main(int argc, char *argv[])
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*/
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/* store current state to reason later about a state change */
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bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
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bool global_pos_valid = current_status.flag_global_position_valid;
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bool local_pos_valid = current_status.flag_local_position_valid;
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// bool vector_flight_mode_ok = current_status.flag_vector_flight_mode_ok;
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bool global_pos_valid = current_status.condition_global_position_valid;
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bool local_pos_valid = current_status.condition_local_position_valid;
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/* check for global or local position updates, set a timeout of 2s */
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if (hrt_absolute_time() - last_global_position_time < 2000000) {
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current_status.flag_global_position_valid = true;
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current_status.condition_global_position_valid = true;
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// XXX check for controller status and home position as well
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} else {
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current_status.flag_global_position_valid = false;
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current_status.condition_global_position_valid = false;
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}
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if (hrt_absolute_time() - last_local_position_time < 2000000) {
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current_status.flag_local_position_valid = true;
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current_status.condition_local_position_valid = true;
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// XXX check for controller status and home position as well
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} else {
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current_status.flag_local_position_valid = false;
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current_status.condition_local_position_valid = false;
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}
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/*
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* Consolidate global position and local position valid flags
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* for vector flight mode.
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*/
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if (current_status.flag_local_position_valid ||
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current_status.flag_global_position_valid) {
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current_status.flag_vector_flight_mode_ok = true;
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// if (current_status.condition_local_position_valid ||
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// current_status.condition_global_position_valid) {
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// current_status.flag_vector_flight_mode_ok = true;
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} else {
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current_status.flag_vector_flight_mode_ok = false;
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}
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// } else {
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// current_status.flag_vector_flight_mode_ok = false;
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// }
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/* consolidate state change, flag as changed if required */
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if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
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global_pos_valid != current_status.flag_global_position_valid ||
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local_pos_valid != current_status.flag_local_position_valid) {
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state_changed = true;
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}
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// /* consolidate state change, flag as changed if required */
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// if (vector_flight_mode_ok != current_status.flag_vector_flight_mode_ok ||
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// global_pos_valid != current_status.flag_global_position_valid ||
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// local_pos_valid != current_status.flag_local_position_valid) {
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// state_changed = true;
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// }
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/*
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* Mark the position of the first position lock as return to launch (RTL)
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@@ -1721,16 +1722,16 @@ int commander_thread_main(int argc, char *argv[])
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* 2) The system has not aquired position lock before
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* 3) The system is not armed (on the ground)
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*/
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if (!current_status.flag_valid_launch_position &&
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!vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
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!current_status.flag_system_armed) {
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/* first time a valid position, store it and emit it */
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// if (!current_status.flag_valid_launch_position &&
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// !vector_flight_mode_ok && current_status.flag_vector_flight_mode_ok &&
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// !current_status.flag_system_armed) {
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// first time a valid position, store it and emit it
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// XXX implement storage and publication of RTL position
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current_status.flag_valid_launch_position = true;
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current_status.flag_auto_flight_mode_ok = true;
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state_changed = true;
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}
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// // XXX implement storage and publication of RTL position
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// current_status.flag_valid_launch_position = true;
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// current_status.flag_auto_flight_mode_ok = true;
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// state_changed = true;
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// }
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if (orb_check(gps_sub, &new_data)) {
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@@ -1760,7 +1761,7 @@ int commander_thread_main(int argc, char *argv[])
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&& (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk
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&& !home_position_set
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&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
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&& !current_status.flag_system_armed) {
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&& !current_status.flag_fmu_armed) {
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warnx("setting home position");
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/* copy position data to uORB home message, store it locally as well */
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@@ -1876,7 +1877,7 @@ int commander_thread_main(int argc, char *argv[])
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if (navigation_state_transition(stat_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
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// These is not supposed to happen
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected 1");
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
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}
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/* Try seatbelt or fallback to manual */
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@@ -1886,7 +1887,7 @@ int commander_thread_main(int argc, char *argv[])
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// fallback to MANUAL_STANDBY
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if (navigation_state_transition(stat_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
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// These is not supposed to happen
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected 2");
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
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}
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}
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@@ -1899,7 +1900,7 @@ int commander_thread_main(int argc, char *argv[])
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// or fallback to MANUAL_STANDBY
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if (navigation_state_transition(stat_pub, ¤t_status, NAVIGATION_STATE_MANUAL_STANDBY, mavlink_fd) != OK) {
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// These is not supposed to happen
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected 3");
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warnx("ERROR: Navigation state MANUAL_STANDBY rejected");
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}
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}
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}
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@@ -2047,7 +2048,6 @@ int commander_thread_main(int argc, char *argv[])
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// ) &&
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if ((sp_man.yaw < -STICK_ON_OFF_LIMIT) && (sp_man.throttle < STICK_THRUST_RANGE * 0.2f)) {
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if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
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printf("Try disarm\n");
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arming_state_transition(stat_pub, ¤t_status, ARMING_STATE_STANDBY, mavlink_fd);
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stick_off_counter = 0;
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@@ -2060,7 +2060,6 @@ int commander_thread_main(int argc, char *argv[])
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/* check if left stick is in lower right position --> arm */
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if (sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.2f) {
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if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
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printf("Try arm\n");
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arming_state_transition(stat_pub, ¤t_status, ARMING_STATE_ARMED, mavlink_fd);
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stick_on_counter = 0;
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@@ -2156,13 +2155,13 @@ int commander_thread_main(int argc, char *argv[])
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current_status.offboard_control_signal_lost_interval = 0;
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/* arm / disarm on request */
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if (sp_offboard.armed && !current_status.flag_system_armed) {
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if (sp_offboard.armed && !current_status.flag_fmu_armed) {
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#warning fix this
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// update_state_machine_arm(stat_pub, ¤t_status, mavlink_fd);
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/* switch to stabilized mode = takeoff */
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// update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd);
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} else if (!sp_offboard.armed && current_status.flag_system_armed) {
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} else if (!sp_offboard.armed && current_status.flag_fmu_armed) {
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// update_state_machine_disarm(stat_pub, ¤t_status, mavlink_fd);
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}
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@@ -278,7 +278,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
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|| current_state->arming_state == ARMING_STATE_ARMED) {
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/* sensors need to be initialized for STANDBY state */
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if (current_state->flag_system_sensors_initialized) {
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if (current_state->condition_system_sensors_initialized) {
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ret = OK;
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} else {
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mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized");
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@@ -392,7 +392,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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/* need to be disarmed and have a position estimate */
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if (current_state->arming_state != ARMING_STATE_STANDBY) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: not disarmed");
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} else if (!current_state->flag_local_position_valid) {
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} else if (!current_state->condition_local_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_STANDBY: no position estimate");
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} else {
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ret = OK;
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@@ -416,7 +416,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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/* need to be armed and have a position estimate */
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if (current_state->arming_state != ARMING_STATE_ARMED) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: not armed");
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} else if (!current_state->flag_local_position_valid) {
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} else if (!current_state->condition_local_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT: no pos estimate");
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} else {
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ret = OK;
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@@ -439,7 +439,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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/* need to be armed and have a position estimate */
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if (current_state->arming_state != ARMING_STATE_ARMED) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: not armed");
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} else if (!current_state->flag_local_position_valid) {
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} else if (!current_state->condition_local_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. SEATBELT_DESCENT: no pos estimate");
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} else {
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ret = OK;
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@@ -458,9 +458,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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/* need to be disarmed and have a position and home lock */
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if (current_state->arming_state != ARMING_STATE_STANDBY) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: not disarmed");
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} else if (!current_state->flag_global_position_valid) {
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} else if (!current_state->condition_global_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no pos lock");
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} else if (!current_state->flag_valid_home_position) {
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} else if (!current_state->condition_home_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_STANDBY: no home pos");
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} else {
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ret = OK;
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@@ -504,9 +504,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
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/* need to have a position and home lock */
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if (!current_state->flag_global_position_valid) {
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if (!current_state->condition_global_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no pos lock");
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} else if (!current_state->flag_valid_home_position) {
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} else if (!current_state->condition_home_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_LOITER: no home pos");
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} else {
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ret = OK;
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@@ -524,7 +524,7 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
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/* need to have a mission ready */
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if (!current_state->flag_auto_mission_available) {
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if (!current_state-> condition_auto_mission_available) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_MISSION: no mission available");
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} else {
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ret = OK;
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@@ -542,9 +542,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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|| current_state->navigation_state == NAVIGATION_STATE_MANUAL) {
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/* need to have a position and home lock */
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if (!current_state->flag_global_position_valid) {
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if (!current_state->condition_global_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no pos lock");
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} else if (!current_state->flag_valid_home_position) {
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} else if (!current_state->condition_home_position_valid) {
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mavlink_log_critical(mavlink_fd, "Rej. AUTO_RTL: no home pos");
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} else {
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ret = OK;
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@@ -559,9 +559,9 @@ int navigation_state_transition(int status_pub, struct vehicle_status_s *current
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|| current_state->navigation_state == NAVIGATION_STATE_AUTO_LOITER) {
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/* need to have a position and home lock */
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if (!current_state->flag_global_position_valid) {
|
||||
if (!current_state->condition_global_position_valid) {
|
||||
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no pos lock");
|
||||
} else if (!current_state->flag_valid_home_position) {
|
||||
} else if (!current_state->condition_home_position_valid) {
|
||||
mavlink_log_critical(mavlink_fd, "Rej. AUTO_LAND: no home pos");
|
||||
} else {
|
||||
ret = OK;
|
||||
|
||||
@@ -529,7 +529,7 @@ BlinkM::led()
|
||||
} else {
|
||||
/* no battery warnings here */
|
||||
|
||||
if(vehicle_status_raw.flag_system_armed == false) {
|
||||
if(vehicle_status_raw.flag_fmu_armed == false) {
|
||||
/* system not armed */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
|
||||
@@ -446,7 +446,7 @@ PX4IO::init()
|
||||
}
|
||||
|
||||
/* keep waiting for state change for 10 s */
|
||||
} while (!status.flag_system_armed);
|
||||
} while (!status.flag_fmu_armed);
|
||||
|
||||
/* regular boot, no in-air restart, init IO */
|
||||
} else {
|
||||
@@ -658,11 +658,12 @@ PX4IO::io_set_arming_state()
|
||||
} else {
|
||||
clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
|
||||
}
|
||||
if (vstatus.flag_vector_flight_mode_ok) {
|
||||
set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
|
||||
} else {
|
||||
clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
|
||||
}
|
||||
// TODO fix this
|
||||
// if (vstatus.flag_vector_flight_mode_ok) {
|
||||
// set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
|
||||
// } else {
|
||||
// clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
|
||||
// }
|
||||
if (vstatus.flag_external_manual_override_ok) {
|
||||
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
|
||||
} else {
|
||||
|
||||
@@ -246,9 +246,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
|
||||
**/
|
||||
|
||||
/* set calibration state */
|
||||
if (v_status.flag_preflight_gyro_calibration ||
|
||||
v_status.flag_preflight_mag_calibration ||
|
||||
v_status.flag_preflight_accel_calibration) {
|
||||
if (v_status.flag_preflight_calibration) {
|
||||
|
||||
*mavlink_state = MAV_STATE_CALIBRATING;
|
||||
|
||||
|
||||
@@ -290,7 +290,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct
|
||||
}
|
||||
|
||||
/* set arming state */
|
||||
if (v_status->flag_system_armed) {
|
||||
if (v_status->flag_fmu_armed) {
|
||||
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
} else {
|
||||
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
|
||||
|
||||
@@ -247,7 +247,7 @@ mc_thread_main(int argc, char *argv[])
|
||||
/* initialize to current yaw if switching to manual or att control */
|
||||
if (state.flag_control_attitude_enabled != flag_control_attitude_enabled ||
|
||||
state.flag_control_manual_enabled != flag_control_manual_enabled ||
|
||||
state.flag_system_armed != flag_system_armed) {
|
||||
state.flag_fmu_armed != flag_system_armed) {
|
||||
att_sp.yaw_body = att.yaw;
|
||||
}
|
||||
|
||||
@@ -291,7 +291,7 @@ mc_thread_main(int argc, char *argv[])
|
||||
att_sp.pitch_body = manual.pitch;
|
||||
|
||||
/* set attitude if arming */
|
||||
if (!flag_control_attitude_enabled && state.flag_system_armed) {
|
||||
if (!flag_control_attitude_enabled && state.flag_fmu_armed) {
|
||||
att_sp.yaw_body = att.yaw;
|
||||
}
|
||||
|
||||
@@ -395,7 +395,8 @@ mc_thread_main(int argc, char *argv[])
|
||||
/* update state */
|
||||
flag_control_attitude_enabled = state.flag_control_attitude_enabled;
|
||||
flag_control_manual_enabled = state.flag_control_manual_enabled;
|
||||
flag_system_armed = state.flag_system_armed;
|
||||
flag_system_armed = state.flag_fmu_armed;
|
||||
// XXX add some logic to this
|
||||
|
||||
perf_end(mc_loop_perf);
|
||||
} /* end of poll call for attitude updates */
|
||||
|
||||
@@ -183,31 +183,35 @@ struct vehicle_status_s
|
||||
return_switch_pos_t return_switch;
|
||||
mission_switch_pos_t mission_switch;
|
||||
|
||||
|
||||
bool condition_system_emergency;
|
||||
bool condition_system_in_air_restore; /**< true if we can restore in mid air */
|
||||
bool condition_system_sensors_initialized;
|
||||
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 gps signal is good enough to use it in the position estimator */
|
||||
bool condition_launch_position_valid; /**< indicates a valid launch position */
|
||||
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 flag_system_armed; /**< true is motors / actuators are armed */
|
||||
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
|
||||
bool flag_fmu_armed; /**< true is motors / actuators of FMU are armed */
|
||||
bool flag_io_armed; /**< true is motors / actuators of IO are armed */
|
||||
bool flag_system_emergency;
|
||||
bool flag_system_in_air_restore; /**< true if we can restore in mid air */
|
||||
bool flag_system_sensors_initialized;
|
||||
bool flag_system_arming_requested;
|
||||
bool flag_system_disarming_requested;
|
||||
bool flag_system_reboot_requested;
|
||||
bool flag_system_returned_to_home;
|
||||
|
||||
bool flag_auto_mission_available;
|
||||
bool flag_auto_enabled;
|
||||
bool flag_preflight_calibration;
|
||||
|
||||
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
|
||||
bool flag_control_offboard_enabled; /**< true if offboard control input is on */
|
||||
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
|
||||
|
||||
bool flag_auto_enabled;
|
||||
bool flag_control_rates_enabled; /**< true if rates are stabilized */
|
||||
bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
|
||||
bool flag_control_velocity_enabled; /**< true if speed (implies direction) is controlled */
|
||||
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_accel_calibration;
|
||||
|
||||
// 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_accel_calibration;
|
||||
|
||||
bool rc_signal_found_once;
|
||||
bool rc_signal_lost; /**< true if RC reception is terminally lost */
|
||||
@@ -238,13 +242,10 @@ struct vehicle_status_s
|
||||
uint16_t errors_count3;
|
||||
uint16_t errors_count4;
|
||||
|
||||
bool flag_global_position_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 */
|
||||
bool flag_local_position_valid;
|
||||
bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
|
||||
bool flag_auto_flight_mode_ok; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
|
||||
// bool flag_vector_flight_mode_ok; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
|
||||
// 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) */
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
Reference in New Issue
Block a user