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HEARTBEAT and commander failsafe handling cleanup

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This commit is contained in:
Daniel Agar
2019-03-12 11:24:33 +01:00
committed by Beat Küng
parent f794ee0c8a
commit 6dec451bab
10 changed files with 316 additions and 407 deletions
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msg/telemetry_status.msg
+33 -10
View File
@@ -1,18 +1,41 @@
uint64 timestamp # time since system start (microseconds)
uint8 LINK_TYPE_GENERIC = 0
uint8 LINK_TYPE_3DR_RADIO = 1
uint8 LINK_TYPE_UBIQUITY_BULLET = 2
uint8 LINK_TYPE_WIRE = 3
uint8 LINK_TYPE_USB = 4
uint8 LINK_TYPE_IRIDIUM = 5
uint8 TELEMETRY_STATUS_RADIO_TYPE_GENERIC = 0
uint8 TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO = 1
uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2
uint8 TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3
uint8 TELEMETRY_STATUS_RADIO_TYPE_USB = 4
uint8 TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM = 5
# MAV_COMPONENT (fill in as needed)
uint8 COMPONENT_ID_ALL = 0
uint8 COMPONENT_ID_AUTOPILOT1 = 1
uint8 COMPONENT_ID_CAMERA = 100
# MAV_TYPE (fill in as needed)
uint8 MAV_TYPE_GENERIC = 0
uint8 MAV_TYPE_GCS = 6
uint8 MAV_TYPE_ONBOARD_CONTROLLER = 18
# MAV_STATE
uint8 MAV_STATE_UNINIT = 0
uint8 MAV_STATE_BOOT = 1
uint8 MAV_STATE_CALIBRATING = 2
uint8 MAV_STATE_STANDBY = 3
uint8 MAV_STATE_ACTIVE = 4
uint8 MAV_STATE_CRITICAL = 5
uint8 MAV_STATE_EMERGENCY = 6
uint8 MAV_STATE_POWEROFF = 7
uint8 MAV_STATE_FLIGHT_TERMINATION = 8
uint64 timestamp # time since system start (microseconds)
uint64 heartbeat_time # Time of last received heartbeat from remote system
uint8 type # type of the radio hardware
uint8 remote_system_id # system id of the remote system (Mavlink header sys_id)
uint8 remote_component_id # component id of the remote system (Mavlink header comp_id)
uint8 remote_type # remote system status flag (Mavlink MAV_TYPE)
uint8 remote_system_status # remote system status flag (Mavlink MAV_STATE)
uint8 system_id # system id of the remote system
uint8 component_id # component id of the remote system
uint8 type # type of the radio hardware
uint8 mode
msg/vehicle_status.msg
+5 -1
View File
@@ -62,6 +62,7 @@ uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
bool is_vtol # True if the system is VTOL capable
bool vtol_fw_permanent_stab # True if VTOL should stabilize attitude for fw in manual mode
bool in_transition_mode # True if VTOL is doing a transition
@@ -71,10 +72,13 @@ bool rc_signal_lost # true if RC reception lost
uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
bool data_link_lost # datalink to GCS lost
bool high_latency_data_link_active # all low latency datalinks to GCS lost
uint8 data_link_lost_counter # counts unique data link lost events
bool high_latency_data_link_lost # all low latency datalinks to GCS lost
bool engine_failure # Set to true if an engine failure is detected
bool mission_failure # Set to true if mission could not continue/finish
uint8 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
# see SYS_STATUS mavlink message for the following