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HEARTBEAT and commander failsafe handling cleanup

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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/vehicle_status.msg
+5 -1
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@@ -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