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

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent a04230faa1
commit 455b885f86
44 changed files with 1927 additions and 2280 deletions
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src/lib/events/enums.json
+64 -18
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@@ -276,41 +276,83 @@
}
}
},
"failsafe_reason_t": {
"failsafe_cause_t": {
"type": "uint8_t",
"description": "Reason for entering failsafe",
"description": "Cause for entering failsafe",
"entries": {
"0": {
"name": "no_rc",
"description": "No manual control stick input"
"name": "generic",
"description": ""
},
"1": {
"name": "no_offboard",
"description": "No offboard control inputs"
"name": "rc_loss",
"description": "manual control loss"
},
"2": {
"name": "no_rc_and_no_offboard",
"description": "No manual control stick and no offboard control inputs"
"name": "datalink_loss",
"description": "data link loss"
},
"3": {
"name": "no_local_position",
"description": "No local position estimate"
"name": "low_battery_level",
"description": "low battery level"
},
"4": {
"name": "no_global_position",
"description": "No global position estimate"
"name": "critical_battery_level",
"description": "critical battery level"
},
"5": {
"name": "no_datalink",
"description": "No datalink"
"name": "emergency_battery_level",
"description": "emergency battery level"
}
}
},
"failsafe_action_t": {
"type": "uint8_t",
"description": "failsafe action",
"entries": {
"0": {
"name": "none",
"description": ""
},
"1": {
"name": "warn",
"description": "warning"
},
"2": {
"name": "fallback_posctrl",
"description": "fallback to position control"
},
"3": {
"name": "fallback_altctrl",
"description": "fallback to altitude control"
},
"4": {
"name": "fallback_stabilized",
"description": "fallback to stabilized"
},
"5": {
"name": "hold",
"description": "hold"
},
"6": {
"name": "no_rc_and_no_datalink",
"description": "No RC and no datalink"
"name": "rtl",
"description": "RTL"
},
"7": {
"name": "no_gps",
"description": "No valid GPS"
"name": "land",
"description": "land"
},
"8": {
"name": "descend",
"description": "descend"
},
"9": {
"name": "disarm",
"description": "disarm"
},
"10": {
"name": "terminate",
"description": "terminate"
}
}
},
@@ -373,6 +415,10 @@
"13": {
"name": "rc_button",
"description": "RC (button)"
},
"14": {
"name": "failsafe",
"description": "failsafe"
}
}
},