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Full failsafe rewrite.

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This commit is contained in:
Anton Babushkin
2013-08-27 23:08:00 +02:00
parent 864c1d048c
commit 66c61fbe96
10 changed files with 415 additions and 434 deletions
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src/modules/uORB/topics/vehicle_control_mode.h
+1 -3
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@@ -80,9 +80,7 @@ struct vehicle_control_mode_s
bool flag_control_altitude_enabled; /**< true if altitude is controlled */
bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel; /**< Set to true if high-level failsafe mode is enabled */
bool flag_control_auto_enabled; // TEMP
uint8_t auto_state; // TEMP navigation state for AUTO modes
};
src/modules/uORB/topics/vehicle_status.h
+1 -12
View File
@@ -174,8 +174,6 @@ struct vehicle_status_s
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 */
uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */
// uint64_t failsave_highlevel_begin; TO BE COMPLETED
main_state_t main_state; /**< main state machine */
navigation_state_t navigation_state; /**< navigation state machine */
@@ -207,22 +205,13 @@ struct vehicle_status_s
bool condition_landed; /**< true if vehicle is landed, always true if disarmed */
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception is terminally lost */
bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
uint64_t rc_signal_lost_interval; /**< interval in microseconds since when no RC signal is available */
bool rc_signal_lost; /**< true if RC reception lost */
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 failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel;
bool preflight_calibration;
bool system_emergency;
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;