commander: use new failsafe state machine and add user intention class

msg/CMakeLists.txt

@@ -59,7 +59,6 @@ set(msg_files
 	cellular_status.msg
 	collision_constraints.msg
 	collision_report.msg
-	commander_state.msg
 	control_allocator_status.msg
 	cpuload.msg
 	differential_pressure.msg

msg/action_request.msg

@@ -16,4 +16,4 @@ uint8 SOURCE_RC_SWITCH = 1
 uint8 SOURCE_RC_BUTTON = 2
 uint8 SOURCE_RC_MODE_SLOT = 3
 
-uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_
+uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*

msg/commander_state.msg

@@ -1,24 +0,0 @@
-# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
-uint64 timestamp			# time since system start (microseconds)
-
-uint8 MAIN_STATE_MANUAL             = 0
-uint8 MAIN_STATE_ALTCTL             = 1
-uint8 MAIN_STATE_POSCTL             = 2
-uint8 MAIN_STATE_AUTO_MISSION       = 3
-uint8 MAIN_STATE_AUTO_LOITER        = 4
-uint8 MAIN_STATE_AUTO_RTL           = 5
-uint8 MAIN_STATE_ACRO               = 6
-uint8 MAIN_STATE_OFFBOARD           = 7
-uint8 MAIN_STATE_STAB               = 8
-# LEGACY RATTITUDE                  = 9
-uint8 MAIN_STATE_AUTO_TAKEOFF       = 10
-uint8 MAIN_STATE_AUTO_LAND          = 11
-uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
-uint8 MAIN_STATE_AUTO_PRECLAND      = 13
-uint8 MAIN_STATE_ORBIT              = 14
-uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF  = 15
-uint8 MAIN_STATE_MAX                = 16
-
-uint8 main_state
-
-uint16 main_state_changes

msg/vehicle_status.msg

@@ -33,8 +33,9 @@ uint8 ARM_DISARM_REASON_UNIT_TEST = 13
 
 uint64 nav_state_timestamp # time when current nav_state activated
 
-# Navigation state "what should vehicle do"
-uint8 nav_state
+uint8 nav_state_user_intention                  # Mode that the user selected (might be different from nav_state in a failsafe situation)
+
+uint8 nav_state                                 # Currently active mode
 uint8 NAVIGATION_STATE_MANUAL = 0               # Manual mode
 uint8 NAVIGATION_STATE_ALTCTL = 1               # Altitude control mode
 uint8 NAVIGATION_STATE_POSCTL = 2               # Position control mode
@@ -83,6 +84,7 @@ uint8 VEHICLE_TYPE_ROVER = 3
 uint8 VEHICLE_TYPE_AIRSHIP = 4
 
 bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
+bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
 uint64 failsafe_timestamp # time when failsafe was activated
 
 # Link loss
@@ -97,8 +99,6 @@ bool is_vtol_tailsitter  # True if the system performs a 90° pitch down rotatio
 bool in_transition_mode  # True if VTOL is doing a transition
 bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
 
-bool mission_failure # Set to true if mission could not continue/finish
-bool geofence_violated
 
 # MAVLink identification
 uint8 system_type  # system type, contains mavlink MAV_TYPE

msg/vehicle_status_flags.msg

@@ -36,7 +36,6 @@ bool home_position_valid		# Home position valid
 bool offboard_control_signal_lost # Offboard signal lost
 bool geofence_violated 				# Geofence violated
 
-bool rc_signal_found_once
 bool rc_signal_lost # RC signal lost
 bool data_link_lost # Data link lost
 bool mission_failure # Mission failure
@@ -46,5 +45,14 @@ bool vtol_transition_failure                        # VTOL transition failed
 bool battery_low_remaining_time
 bool battery_unhealthy
 
-uint8 battery_warning
+bool wind_limit_exceeded
+bool flight_time_limit_exceeded
+
+# failure detector
+bool fd_esc_arming_failure
+bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
+bool fd_imbalanced_prop # Imbalanced propeller detected
+bool fd_motor_failure
+
+uint8 battery_warning # Battery warning level