commander: rework arming checks to use the events interface

msg/event.msg

@@ -7,4 +7,4 @@ uint8[25] arguments         # (optional) arguments, depend on event id
 
 uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external
 
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16

msg/vehicle_status.msg

@@ -113,3 +113,22 @@ uint64 onboard_control_sensors_health
 
 bool safety_button_available # Set to true if a safety button is connected
 bool safety_off # Set to true if safety is off
+bool auto_mission_available
+
+bool power_input_valid                            # set if input power is valid
+bool usb_connected                                # set to true (never cleared) once telemetry received from usb link
+
+bool parachute_system_present
+bool parachute_system_healthy
+
+bool avoidance_system_required                    # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
+bool avoidance_system_valid                       # Status of the obstacle avoidance system
+
+bool battery_healthy                	# set if battery is available and not low
+
+bool circuit_breaker_engaged_power_check
+bool circuit_breaker_engaged_airspd_check
+bool circuit_breaker_flight_termination_disabled
+bool circuit_breaker_engaged_usb_check
+bool circuit_breaker_vtol_fw_arming_check         # set to true if for VTOLs arming in fixed-wing mode should be allowed
+

msg/vehicle_status_flags.msg

@@ -1,7 +1,21 @@
-# This is a struct used by the commander internally.
+# TODO: rename to failsafe_flags (will be input to failsafe state machine)
+#
 
 uint64 timestamp				# time since system start (microseconds)
 
+# Per-mode requirements
+uint32 mode_req_angular_velocity
+uint32 mode_req_attitude
+uint32 mode_req_local_position
+uint32 mode_req_global_position
+uint32 mode_req_local_alt
+uint32 mode_req_mission
+uint32 mode_req_offboard_signal
+uint32 mode_req_home_position
+uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
+uint32 mode_req_other             # other requirements, not covered above (for external modes)
+
+
 bool calibration_enabled
 bool pre_flight_checks_pass		# true if all checks necessary to arm pass
 bool auto_mission_available
@@ -13,8 +27,6 @@ bool local_velocity_valid		# set to true by the commander app if the quality of
 bool global_position_valid		# set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
 bool gps_position_valid
 bool home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
-bool power_input_valid                	# set if input power is valid
-bool battery_healthy                	# set if battery is available and not low
 bool escs_error		      		# set to true if one or more ESCs reporting esc_status are offline
 bool escs_failure		      	# set to true if one or more ESCs reporting esc_status has a failure
 
@@ -23,25 +35,10 @@ bool position_reliant_on_optical_flow
 bool position_reliant_on_vision_position
 
 bool dead_reckoning
-bool flight_terminated
-
-bool circuit_breaker_engaged_power_check
-bool circuit_breaker_engaged_airspd_check
-bool circuit_breaker_flight_termination_disabled
-bool circuit_breaker_engaged_usb_check
-bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in fixed-wing mode should be allowed
 
 bool offboard_control_signal_lost
 
 bool rc_signal_found_once
 bool rc_calibration_in_progress
-bool rc_calibration_valid                            # set if RC calibration is valid
 bool vtol_transition_failure                        # Set to true if vtol transition failed
-bool usb_connected                                # status of the USB power supply
-bool sd_card_detected_once                        # set to true if the SD card was detected
 
-bool avoidance_system_required					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
-bool avoidance_system_valid                       # Status of the obstacle avoidance system
-
-bool parachute_system_present
-bool parachute_system_healthy