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Checkpoint, arming/disarming still has a bug

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This commit is contained in:
Julian Oes
2013-02-17 23:07:07 -08:00
parent 3bc385c789
commit 47b05eeb87
5 changed files with 303 additions and 243 deletions
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apps/uORB/topics/vehicle_status.h
+28 -6
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@@ -60,8 +60,7 @@
/* State Machine */
typedef enum {
NAVIGATION_STATE_INIT = 0,
NAVIGATION_STATE_STANDBY,
NAVIGATION_STATE_STANDBY=0,
NAVIGATION_STATE_MANUAL,
NAVIGATION_STATE_SEATBELT,
NAVIGATION_STATE_LOITER,
@@ -70,15 +69,13 @@ typedef enum {
NAVIGATION_STATE_RTL,
NAVIGATION_STATE_TAKEOFF,
NAVIGATION_STATE_LAND,
NAVIGATION_STATE_GROUND_ERROR,
NAVIGATION_STATE_REBOOT
} navigation_state_t;
typedef enum {
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
ARMING_STATE_ARMED,
ARMING_STATE_MISSION_ABORT,
ARMING_STATE_ABORT,
ARMING_STATE_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE
@@ -95,6 +92,22 @@ enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
typedef enum {
MODE_SWITCH_MANUAL = 0,
MODE_SWITCH_ASSISTED,
MODE_SWITCH_AUTO
} mode_switch_pos_t;
typedef enum {
RETURN_SWITCH_NONE = 0,
RETURN_SWITCH_RETURN
} return_switch_pos_t;
typedef enum {
MISSION_SWITCH_NONE = 0,
MISSION_SWITCH_MISSION
} mission_switch_pos_t;
//enum VEHICLE_FLIGHT_MODE {
// VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
// VEHICLE_FLIGHT_MODE_STAB, /**< attitude or rate stabilization plus velocity or position stabilization */
@@ -168,9 +181,18 @@ struct vehicle_status_s
/* system flags - these represent the state predicates */
mode_switch_pos_t mode_switch;
return_switch_pos_t return_switch;
mission_switch_pos_t mission_switch;
bool flag_system_armed; /**< true is motors / actuators are armed */
bool flag_system_emergency;
bool flag_system_sensors_ok;
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_on_ground;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */