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Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent 40e6a5a39b
commit 6f1f414b49
31 changed files with 427 additions and 266 deletions
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msg/subsystem_info.msg
+15 -4
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@@ -11,10 +11,21 @@ uint64 SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512
uint64 SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024
uint64 SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048
uint64 SUBSYSTEM_TYPE_YAWPOSITION = 4096
uint64 SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384
uint64 SUBSYSTEM_TYPE_POSITIONCONTROL = 32768
uint64 SUBSYSTEM_TYPE_MOTORCONTROL = 65536
uint64 SUBSYSTEM_TYPE_RANGEFINDER = 131072
uint64 SUBSYSTEM_TYPE_ALTITUDECONTROL = 8192
uint64 SUBSYSTEM_TYPE_POSITIONCONTROL = 16384
uint64 SUBSYSTEM_TYPE_MOTORCONTROL = 32768
uint64 SUBSYSTEM_TYPE_RCRECEIVER = 65536
uint64 SUBSYSTEM_TYPE_GYRO2 = 131072
uint64 SUBSYSTEM_TYPE_ACC2 = 262144
uint64 SUBSYSTEM_TYPE_MAG2 = 524288
uint64 SUBSYSTEM_TYPE_GEOFENCE = 1048576
uint64 SUBSYSTEM_TYPE_AHRS = 2097152
uint64 SUBSYSTEM_TYPE_TERRAIN = 4194304
uint64 SUBSYSTEM_TYPE_REVERSEMOTOR = 8388608
uint64 SUBSYSTEM_TYPE_LOGGING = 16777216
uint64 SUBSYSTEM_TYPE_SENSORBATTERY = 33554432
uint64 SUBSYSTEM_TYPE_SENSORPROXIMITY = 67108864
uint64 SUBSYSTEM_TYPE_MISSION = 134217728
bool present
bool enabled
msg/vehicle_status_flags.msg
+1
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@@ -27,5 +27,6 @@ bool offboard_control_loss_timeout # true if offboard is lost for
bool rc_signal_found_once
bool rc_input_blocked # set if RC input should be ignored temporarily
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