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Add new Airspeed flight mode (only fixed-wing)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-07-16 13:40:07 +02:00
parent 4a0fa08953
commit 9624fbad1b
12 changed files with 91 additions and 9 deletions
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msg/commander_state.msg
+2 -1
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@@ -16,7 +16,8 @@ uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 MAIN_STATE_AIRSPEED = 15
uint8 MAIN_STATE_MAX = 16
uint8 main_state # main state machine
msg/vehicle_control_mode.msg
+1
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@@ -15,3 +15,4 @@ bool flag_control_position_enabled # true if position is controlled
bool flag_control_altitude_enabled # true if altitude is controlled
bool flag_control_climb_rate_enabled # true if climb rate is controlled
bool flag_control_termination_enabled # true if flighttermination is enabled
bool flag_control_airspeed_enabled # true if airspeed is controlled (only fixed-wing)
msg/vehicle_status.msg
+1 -1
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@@ -32,7 +32,7 @@ uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot
uint8 NAVIGATION_STATE_AIRSPEED = 11 # Airspeed control mode (only fixed-wing)
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
msg/vehicle_status_flags.msg
+1
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@@ -14,6 +14,7 @@ bool condition_local_position_valid # set to true by the commander app if the q
bool condition_local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
bool condition_global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
bool condition_airspeed_valid # set to true if airspeed mesurements are valid
bool condition_power_input_valid # set if input power is valid
bool condition_battery_healthy # set if battery is available and not low
bool condition_escs_error # set to true if one or more ESCs reporting esc_status are offline