mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-05 18:20:40 +08:00
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts: src/examples/subscriber/subscriber_params.c src/modules/mc_att_control/mc_att_control_main.cpp src/modules/uORB/topics/vehicle_attitude.h src/modules/uORB/topics/vehicle_attitude_setpoint.h src/platforms/px4_middleware.h
This commit is contained in:
Thomas Gubler
@@ -91,6 +91,9 @@ ORB_DEFINE(home_position, struct home_position_s);
|
||||
#include "topics/vehicle_status.h"
|
||||
ORB_DEFINE(vehicle_status, struct vehicle_status_s);
|
||||
|
||||
#include "topics/vtol_vehicle_status.h"
|
||||
ORB_DEFINE(vtol_vehicle_status, struct vtol_vehicle_status_s);
|
||||
|
||||
#include "topics/safety.h"
|
||||
ORB_DEFINE(safety, struct safety_s);
|
||||
|
||||
@@ -114,6 +117,8 @@ ORB_DEFINE(vehicle_vicon_position, struct vehicle_vicon_position_s);
|
||||
|
||||
#include "topics/vehicle_rates_setpoint.h"
|
||||
ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
|
||||
ORB_DEFINE(mc_virtual_rates_setpoint, struct vehicle_rates_setpoint_s);
|
||||
ORB_DEFINE(fw_virtual_rates_setpoint, struct vehicle_rates_setpoint_s);
|
||||
|
||||
#include "topics/rc_channels.h"
|
||||
ORB_DEFINE(rc_channels, struct rc_channels_s);
|
||||
@@ -148,6 +153,8 @@ ORB_DEFINE(fence, unsigned);
|
||||
|
||||
#include "topics/vehicle_attitude_setpoint.h"
|
||||
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
|
||||
ORB_DEFINE(mc_virtual_attitude_setpoint, struct vehicle_attitude_setpoint_s);
|
||||
ORB_DEFINE(fw_virtual_attitude_setpoint, struct vehicle_attitude_setpoint_s);
|
||||
|
||||
#include "topics/manual_control_setpoint.h"
|
||||
ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
|
||||
@@ -182,6 +189,9 @@ ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
|
||||
ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
|
||||
ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
|
||||
ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
|
||||
//Virtual control groups, used for VTOL operation
|
||||
ORB_DEFINE(actuator_controls_virtual_mc, struct actuator_controls_s);
|
||||
ORB_DEFINE(actuator_controls_virtual_fw, struct actuator_controls_s);
|
||||
|
||||
#include "topics/actuator_armed.h"
|
||||
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
|
||||
|
||||
@@ -1,256 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 - 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vehicle_status.h
|
||||
* Definition of the vehicle_status uORB topic.
|
||||
*
|
||||
* Published the state machine and the system status bitfields
|
||||
* (see SYS_STATUS mavlink message), published only by commander app.
|
||||
*
|
||||
* All apps should write to subsystem_info:
|
||||
*
|
||||
* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#ifndef VEHICLE_STATUS_H_
|
||||
#define VEHICLE_STATUS_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <platforms/px4_defines.h>
|
||||
|
||||
/**
|
||||
* @addtogroup topics @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
|
||||
*/
|
||||
typedef enum {
|
||||
MAIN_STATE_MANUAL = 0,
|
||||
MAIN_STATE_ALTCTL,
|
||||
MAIN_STATE_POSCTL,
|
||||
MAIN_STATE_AUTO_MISSION,
|
||||
MAIN_STATE_AUTO_LOITER,
|
||||
MAIN_STATE_AUTO_RTL,
|
||||
MAIN_STATE_ACRO,
|
||||
MAIN_STATE_OFFBOARD,
|
||||
MAIN_STATE_MAX
|
||||
} main_state_t;
|
||||
|
||||
// If you change the order, add or remove arming_state_t states make sure to update the arrays
|
||||
// in state_machine_helper.cpp as well.
|
||||
typedef enum {
|
||||
ARMING_STATE_INIT = 0,
|
||||
ARMING_STATE_STANDBY,
|
||||
ARMING_STATE_ARMED,
|
||||
ARMING_STATE_ARMED_ERROR,
|
||||
ARMING_STATE_STANDBY_ERROR,
|
||||
ARMING_STATE_REBOOT,
|
||||
ARMING_STATE_IN_AIR_RESTORE,
|
||||
ARMING_STATE_MAX,
|
||||
} arming_state_t;
|
||||
|
||||
typedef enum {
|
||||
HIL_STATE_OFF = 0,
|
||||
HIL_STATE_ON
|
||||
} hil_state_t;
|
||||
|
||||
/**
|
||||
* Navigation state, i.e. "what should vehicle do".
|
||||
*/
|
||||
typedef enum {
|
||||
NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
|
||||
NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */
|
||||
NAVIGATION_STATE_POSCTL, /**< Position control mode */
|
||||
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
|
||||
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
|
||||
NAVIGATION_STATE_AUTO_RTL, /**< Auto return to launch mode */
|
||||
NAVIGATION_STATE_AUTO_RCRECOVER, /**< RC recover mode */
|
||||
NAVIGATION_STATE_AUTO_RTGS, /**< Auto return to groundstation on data link loss */
|
||||
NAVIGATION_STATE_AUTO_LANDENGFAIL, /**< Auto land on engine failure */
|
||||
NAVIGATION_STATE_AUTO_LANDGPSFAIL, /**< Auto land on gps failure (e.g. open loop loiter down) */
|
||||
NAVIGATION_STATE_ACRO, /**< Acro mode */
|
||||
NAVIGATION_STATE_LAND, /**< Land mode */
|
||||
NAVIGATION_STATE_DESCEND, /**< Descend mode (no position control) */
|
||||
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
|
||||
NAVIGATION_STATE_OFFBOARD,
|
||||
NAVIGATION_STATE_MAX,
|
||||
} navigation_state_t;
|
||||
|
||||
enum VEHICLE_MODE_FLAG {
|
||||
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
|
||||
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
|
||||
VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
|
||||
VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
|
||||
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
|
||||
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
|
||||
VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
|
||||
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
|
||||
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
|
||||
|
||||
/**
|
||||
* Should match 1:1 MAVLink's MAV_TYPE ENUM
|
||||
*/
|
||||
enum VEHICLE_TYPE {
|
||||
VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
|
||||
VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
|
||||
VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
|
||||
VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
|
||||
VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
|
||||
VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
|
||||
VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
|
||||
VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
|
||||
VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
|
||||
VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
|
||||
VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
|
||||
VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
|
||||
VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
|
||||
VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
|
||||
VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
|
||||
VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
|
||||
VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
|
||||
VEHICLE_TYPE_KITE = 17, /* Kite | */
|
||||
VEHICLE_TYPE_ENUM_END = 18, /* | */
|
||||
};
|
||||
|
||||
enum VEHICLE_BATTERY_WARNING {
|
||||
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
|
||||
VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */
|
||||
VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */
|
||||
};
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* state machine / state of vehicle.
|
||||
*
|
||||
* Encodes the complete system state and is set by the commander app.
|
||||
*/
|
||||
struct vehicle_status_s {
|
||||
/* use of a counter and timestamp recommended (but not necessary) */
|
||||
|
||||
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
|
||||
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
|
||||
|
||||
main_state_t main_state; /**< main state machine */
|
||||
navigation_state_t nav_state; /**< set navigation state machine to specified value */
|
||||
arming_state_t arming_state; /**< current arming state */
|
||||
hil_state_t hil_state; /**< current hil state */
|
||||
bool failsafe; /**< true if system is in failsafe state */
|
||||
|
||||
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 */
|
||||
|
||||
bool is_rotary_wing;
|
||||
|
||||
bool condition_battery_voltage_valid;
|
||||
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 position estimate is good enough to use it for navigation */
|
||||
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 condition_local_altitude_valid;
|
||||
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
|
||||
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */
|
||||
bool condition_power_input_valid; /**< set if input power is valid */
|
||||
float avionics_power_rail_voltage; /**< voltage of the avionics power rail */
|
||||
|
||||
bool rc_signal_found_once;
|
||||
bool rc_signal_lost; /**< true if RC reception lost */
|
||||
uint64_t rc_signal_lost_timestamp; /**< Time at which the RC reception was lost */
|
||||
bool rc_signal_lost_cmd; /**< true if RC lost mode is commanded */
|
||||
bool rc_input_blocked; /**< set if RC input should be ignored */
|
||||
|
||||
bool data_link_lost; /**< datalink to GCS lost */
|
||||
bool data_link_lost_cmd; /**< datalink to GCS lost mode commanded */
|
||||
uint8_t data_link_lost_counter; /**< counts unique data link lost events */
|
||||
bool engine_failure; /** Set to true if an engine failure is detected */
|
||||
bool engine_failure_cmd; /** Set to true if an engine failure mode is commanded */
|
||||
bool gps_failure; /** Set to true if a gps failure is detected */
|
||||
bool gps_failure_cmd; /** Set to true if a gps failure mode is commanded */
|
||||
|
||||
bool barometer_failure; /** Set to true if a barometer failure is detected */
|
||||
|
||||
bool offboard_control_signal_found_once;
|
||||
bool offboard_control_signal_lost;
|
||||
bool offboard_control_signal_weak;
|
||||
uint64_t offboard_control_signal_lost_interval; /**< interval in microseconds without an offboard control message */
|
||||
bool offboard_control_set_by_command; /**< true if the offboard mode was set by a mavlink command
|
||||
and should not be overridden by RC */
|
||||
|
||||
/* see SYS_STATUS mavlink message for the following */
|
||||
uint32_t onboard_control_sensors_present;
|
||||
uint32_t onboard_control_sensors_enabled;
|
||||
uint32_t onboard_control_sensors_health;
|
||||
|
||||
float load; /**< processor load from 0 to 1 */
|
||||
float battery_voltage;
|
||||
float battery_current;
|
||||
float battery_remaining;
|
||||
|
||||
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
|
||||
uint16_t drop_rate_comm;
|
||||
uint16_t errors_comm;
|
||||
uint16_t errors_count1;
|
||||
uint16_t errors_count2;
|
||||
uint16_t errors_count3;
|
||||
uint16_t errors_count4;
|
||||
|
||||
bool circuit_breaker_engaged_power_check;
|
||||
bool circuit_breaker_engaged_airspd_check;
|
||||
bool circuit_breaker_engaged_enginefailure_check;
|
||||
bool circuit_breaker_engaged_gpsfailure_check;
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vehicle_status);
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,66 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vtol_status.h
|
||||
*
|
||||
* Vtol status topic
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VTOL_STATUS_H
|
||||
#define TOPIC_VTOL_STATUS_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/* Indicates in which mode the vtol aircraft is in */
|
||||
struct vtol_vehicle_status_s {
|
||||
|
||||
uint64_t timestamp; /**< Microseconds since system boot */
|
||||
bool vtol_in_rw_mode; /*true: vtol vehicle is in rotating wing mode */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(vtol_vehicle_status);
|
||||
|
||||
#endif
|
||||
+22
-3
@@ -264,9 +264,28 @@ __END_DECLS
|
||||
/* Diverse uORB header defines */ //XXX: move to better location
|
||||
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)
|
||||
ORB_DECLARE(actuator_controls_0);
|
||||
ORB_DECLARE(actuator_controls_1);
|
||||
ORB_DECLARE(actuator_controls_2);
|
||||
ORB_DECLARE(actuator_controls_3);
|
||||
typedef struct actuator_controls_s actuator_controls_0_s;
|
||||
ORB_DECLARE(actuator_controls_1);
|
||||
typedef struct actuator_controls_s actuator_controls_1_s;
|
||||
ORB_DECLARE(actuator_controls_2);
|
||||
typedef struct actuator_controls_s actuator_controls_2_s;
|
||||
ORB_DECLARE(actuator_controls_3);
|
||||
typedef struct actuator_controls_s actuator_controls_3_s;
|
||||
ORB_DECLARE(actuator_controls_virtual_mc);
|
||||
typedef struct actuator_controls_s actuator_controls_virtual_mc_s;
|
||||
ORB_DECLARE(actuator_controls_virtual_fw);
|
||||
typedef struct actuator_controls_s actuator_controls_virtual_fw_s;
|
||||
ORB_DECLARE(mc_virtual_rates_setpoint);
|
||||
typedef struct vehicle_rates_setpoint_s mc_virtual_rates_setpoint_s;
|
||||
ORB_DECLARE(fw_virtual_rates_setpoint);
|
||||
typedef struct vehicle_rates_setpoint_s fw_virtual_rates_setpoint_s;
|
||||
ORB_DECLARE(mc_virtual_attitude_setpoint);
|
||||
typedef struct vehicle_attitude_setpoint_s mc_virtual_attitude_setpoint_s;
|
||||
ORB_DECLARE(fw_virtual_attitude_setpoint);
|
||||
typedef struct vehicle_attitude_setpoint_s fw_virtual_attitude_setpoint_s;
|
||||
typedef uint8_t arming_state_t;
|
||||
typedef uint8_t main_state_t;
|
||||
typedef uint8_t hil_state_t;
|
||||
typedef uint8_t navigation_state_t;
|
||||
|
||||
#endif /* _UORB_UORB_H */
|
||||
|
||||
Reference in New Issue
Block a user