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vehicle_status.msg: delete unused mavlink stuff

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The MAV_TYPE enum was not in sync with the mavlink specs anymore. It
makes therefore sense to remove the duplication and include the correct
mavlink header file where it is needed.
Also, error counts which are not populated, can be scrapped.
This commit is contained in:
Julian Oes
2016-02-24 10:10:50 +00:00
parent 5f3a23a253
commit 74072dbe74
3 changed files with 20 additions and 61 deletions
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msg/vehicle_status.msg
+3 -45
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@@ -51,42 +51,6 @@ uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_MAX = 20
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128
uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32
uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16
uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8
uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4
uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2
uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM
uint8 VEHICLE_TYPE_GENERIC = 0 # Generic micro air vehicle.
uint8 VEHICLE_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
uint8 VEHICLE_TYPE_QUADROTOR = 2 # Quadrotor
uint8 VEHICLE_TYPE_COAXIAL = 3 # Coaxial helicopter
uint8 VEHICLE_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5 # Ground installation
uint8 VEHICLE_TYPE_GCS = 6 # Operator control unit / ground control station
uint8 VEHICLE_TYPE_AIRSHIP = 7 # Airship, controlled
uint8 VEHICLE_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
uint8 VEHICLE_TYPE_ROCKET = 9 # Rocket
uint8 VEHICLE_TYPE_GROUND_ROVER = 10 # Ground rover
uint8 VEHICLE_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
uint8 VEHICLE_TYPE_SUBMARINE = 12 # Submarine
uint8 VEHICLE_TYPE_HEXAROTOR = 13 # Hexarotor
uint8 VEHICLE_TYPE_OCTOROTOR = 14 # Octorotor
uint8 VEHICLE_TYPE_TRICOPTER = 15 # Octorotor
uint8 VEHICLE_TYPE_FLAPPING_WING = 16 # Flapping wing
uint8 VEHICLE_TYPE_KITE = 17 # Kite
uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18 # Onboard companion controller
uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19 # Vtol with two engines
uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20 # Vtol with four engines
uint8 VEHICLE_TYPE_VTOL_HEXAROTOR = 21 # Vtol with six engines
uint8 VEHICLE_TYPE_VTOL_OCTOROTOR = 22 # Vtol with eight engines
uint8 VEHICLE_TYPE_ENUM_END = 23
# VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
@@ -115,9 +79,9 @@ uint8 hil_state # current hil state
bool failsafe # true if system is in failsafe state
bool calibration_enabled # true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum
uint32 system_id # system id, inspired by MAVLink's system ID field
uint32 component_id # subsystem / component id, inspired by MAVLink's component ID field
uint8 system_type # system type, contains mavlink MAV_TYPE
uint32 system_id # system id, contains MAVLink's system ID field
uint32 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
@@ -179,10 +143,4 @@ float32 battery_discharged_mah
uint32 battery_cell_count
uint8 battery_warning # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum
uint16 drop_rate_comm
uint16 errors_comm
uint16 errors_count1
uint16 errors_count2
uint16 errors_count3
uint16 errors_count4
src/modules/commander/commander_helper.cpp
+10 -10
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@@ -64,6 +64,7 @@
#include "commander_helper.h"
#include "DevMgr.hpp"
#include "mavlink/v1.0/common/mavlink.h" // For MAV_TYPE
using namespace DriverFramework;
@@ -77,23 +78,22 @@ static const int ERROR = -1;
bool is_multirotor(const struct vehicle_status_s *current_status)
{
return ((current_status->system_type == vehicle_status_s::VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == vehicle_status_s::VEHICLE_TYPE_TRICOPTER));
return ((current_status->system_type == MAV_TYPE_QUADROTOR) ||
(current_status->system_type == MAV_TYPE_HEXAROTOR) ||
(current_status->system_type == MAV_TYPE_OCTOROTOR) ||
(current_status->system_type == MAV_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
{
return is_multirotor(current_status) || (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_COAXIAL);
return is_multirotor(current_status) || (current_status->system_type == MAV_TYPE_HELICOPTER)
|| (current_status->system_type == MAV_TYPE_COAXIAL);
}
bool is_vtol(const struct vehicle_status_s * current_status) {
return (current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_QUADROTOR ||
current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_HEXAROTOR ||
current_status->system_type == vehicle_status_s::VEHICLE_TYPE_VTOL_OCTOROTOR);
return (current_status->system_type == MAV_TYPE_VTOL_DUOROTOR ||
current_status->system_type == MAV_TYPE_VTOL_QUADROTOR ||
current_status->system_type == MAV_TYPE_VTOL_TILTROTOR);
}
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
src/modules/mavlink/mavlink_messages.cpp
+7 -6
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@@ -580,14 +580,15 @@ protected:
msg.load = status.load * 1000.0f;
msg.voltage_battery = status.battery_voltage * 1000.0f;
msg.current_battery = status.battery_current * 100.0f;
msg.drop_rate_comm = status.drop_rate_comm;
msg.errors_comm = status.errors_comm;
msg.errors_count1 = status.errors_count1;
msg.errors_count2 = status.errors_count2;
msg.errors_count3 = status.errors_count3;
msg.errors_count4 = status.errors_count4;
msg.battery_remaining = (status.condition_battery_voltage_valid) ?
status.battery_remaining * 100.0f : -1;
// TODO: fill in something useful in the fields below
msg.drop_rate_comm = 0;
msg.errors_comm = 0;
msg.errors_count1 = 0;
msg.errors_count2 = 0;
msg.errors_count3 = 0;
msg.errors_count4 = 0;
_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);