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vtol_vehicle_status: replace several status bools by single vehicle_vtol_state

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Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 10:01:04 +02:00
parent 635f64a2e5
commit 2b7efeacca
6 changed files with 45 additions and 38 deletions
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msg/vehicle_status.msg
+1 -1
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@@ -69,7 +69,7 @@ uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
uint8 vehicle_type # Type of vehicle (fixed-wing, rotary wing, ground)
uint8 vehicle_type # Type of vehicle (rotary wing/fixed-wing/rover/airship, see above)
# If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
# and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
msg/vtol_vehicle_status.msg
+2 -3
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@@ -7,7 +7,6 @@ uint8 VEHICLE_VTOL_STATE_FW = 4
uint64 timestamp # time since system start (microseconds)
bool vtol_in_rw_mode # true: vtol vehicle is in rotating wing mode
bool vtol_in_trans_mode
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE
bool vtol_transition_failsafe # vtol in transition failsafe mode