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Merge branch 'master' into offboard2

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This commit is contained in:
Anton Babushkin
2014-05-16 12:12:43 +02:00
parent d2553bfd29 f892a7278a
commit 8c4b35cc23
511 changed files with 23010 additions and 11290 deletions
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src/modules/uORB/topics/vehicle_status.h
+28 -62
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@@ -63,13 +63,15 @@
/* main state machine */
typedef enum {
MAIN_STATE_MANUAL = 0,
MAIN_STATE_SEATBELT,
MAIN_STATE_EASY,
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX
} main_state_t;
// If you change the order, add or remove arming_state_t states make sure to update the arrays
// in state_machine_helper.cpp as well.
typedef enum {
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
@@ -94,35 +96,6 @@ typedef enum {
FAILSAFE_STATE_MAX
} failsafe_state_t;
typedef enum {
MODE_SWITCH_MANUAL = 0,
MODE_SWITCH_ASSISTED,
MODE_SWITCH_AUTO
} mode_switch_pos_t;
typedef enum {
ASSISTED_SWITCH_SEATBELT = 0,
ASSISTED_SWITCH_EASY
} assisted_switch_pos_t;
typedef enum {
RETURN_SWITCH_NONE = 0,
RETURN_SWITCH_NORMAL,
RETURN_SWITCH_RETURN
} return_switch_pos_t;
typedef enum {
MISSION_SWITCH_NONE = 0,
MISSION_SWITCH_LOITER,
MISSION_SWITCH_MISSION
} mission_switch_pos_t;
typedef enum {
OFFBOARD_SWITCH_NONE = 0,
OFFBOARD_SWITCH_OFFBOARD,
OFFBOARD_SWITCH_ONBOARD
} offboard_switch_pos_t;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
@@ -138,31 +111,31 @@ enum VEHICLE_MODE_FLAG {
* Should match 1:1 MAVLink's MAV_TYPE ENUM
*/
enum VEHICLE_TYPE {
VEHICLE_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
VEHICLE_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
VEHICLE_TYPE_QUADROTOR=2, /* Quadrotor | */
VEHICLE_TYPE_COAXIAL=3, /* Coaxial helicopter | */
VEHICLE_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
VEHICLE_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
VEHICLE_TYPE_GCS=6, /* Operator control unit / ground control station | */
VEHICLE_TYPE_AIRSHIP=7, /* Airship, controlled | */
VEHICLE_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
VEHICLE_TYPE_ROCKET=9, /* Rocket | */
VEHICLE_TYPE_GROUND_ROVER=10, /* Ground rover | */
VEHICLE_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
VEHICLE_TYPE_SUBMARINE=12, /* Submarine | */
VEHICLE_TYPE_HEXAROTOR=13, /* Hexarotor | */
VEHICLE_TYPE_OCTOROTOR=14, /* Octorotor | */
VEHICLE_TYPE_TRICOPTER=15, /* Octorotor | */
VEHICLE_TYPE_FLAPPING_WING=16, /* Flapping wing | */
VEHICLE_TYPE_KITE=17, /* Kite | */
VEHICLE_TYPE_ENUM_END=18, /* | */
VEHICLE_TYPE_GENERIC = 0, /* Generic micro air vehicle. | */
VEHICLE_TYPE_FIXED_WING = 1, /* Fixed wing aircraft. | */
VEHICLE_TYPE_QUADROTOR = 2, /* Quadrotor | */
VEHICLE_TYPE_COAXIAL = 3, /* Coaxial helicopter | */
VEHICLE_TYPE_HELICOPTER = 4, /* Normal helicopter with tail rotor. | */
VEHICLE_TYPE_ANTENNA_TRACKER = 5, /* Ground installation | */
VEHICLE_TYPE_GCS = 6, /* Operator control unit / ground control station | */
VEHICLE_TYPE_AIRSHIP = 7, /* Airship, controlled | */
VEHICLE_TYPE_FREE_BALLOON = 8, /* Free balloon, uncontrolled | */
VEHICLE_TYPE_ROCKET = 9, /* Rocket | */
VEHICLE_TYPE_GROUND_ROVER = 10, /* Ground rover | */
VEHICLE_TYPE_SURFACE_BOAT = 11, /* Surface vessel, boat, ship | */
VEHICLE_TYPE_SUBMARINE = 12, /* Submarine | */
VEHICLE_TYPE_HEXAROTOR = 13, /* Hexarotor | */
VEHICLE_TYPE_OCTOROTOR = 14, /* Octorotor | */
VEHICLE_TYPE_TRICOPTER = 15, /* Octorotor | */
VEHICLE_TYPE_FLAPPING_WING = 16, /* Flapping wing | */
VEHICLE_TYPE_KITE = 17, /* Kite | */
VEHICLE_TYPE_ENUM_END = 18, /* | */
};
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */
VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */
VEHICLE_BATTERY_WARNING_NONE = 0, /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_LOW, /**< warning of low voltage */
VEHICLE_BATTERY_WARNING_CRITICAL /**< alerting of critical voltage */
};
/**
@@ -175,8 +148,7 @@ enum VEHICLE_BATTERY_WARNING {
*
* Encodes the complete system state and is set by the commander app.
*/
struct vehicle_status_s
{
struct vehicle_status_s {
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter; /**< incremented by the writing thread everytime new data is stored */
@@ -195,12 +167,6 @@ struct vehicle_status_s
bool is_rotary_wing;
mode_switch_pos_t mode_switch;
return_switch_pos_t return_switch;
assisted_switch_pos_t assisted_switch;
mission_switch_pos_t mission_switch;
offboard_switch_pos_t offboard_switch;
bool condition_battery_voltage_valid;
bool condition_system_in_air_restore; /**< true if we can restore in mid air */
bool condition_system_sensors_initialized;
@@ -227,7 +193,7 @@ struct vehicle_status_s
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;
uint32_t onboard_control_sensors_health;
float load; /**< processor load from 0 to 1 */
float battery_voltage;
float battery_current;