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commander: WIP, SEATBELT renamed to ASSISTED, added SIMPLE mode, added ASSISTED switch, some cleanup and reorganizing

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This commit is contained in:
Anton Babushkin
2013-07-22 21:48:21 +04:00
parent eb52eae153
commit 963abd66ba
5 changed files with 178 additions and 108 deletions
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src/modules/uORB/topics/manual_control_setpoint.h
+1
View File
@@ -58,6 +58,7 @@ struct manual_control_setpoint_s {
float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
float return_switch; /**< land 2 position switch (mandatory): land, no effect */
float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
float mission_switch; /**< mission 2 position switch (optional): mission, loiter */
/**
src/modules/uORB/topics/vehicle_status.h
+12 -5
View File
@@ -60,12 +60,13 @@
/* State Machine */
typedef enum {
NAVIGATION_STATE_INIT=0,
NAVIGATION_STATE_INIT = 0,
NAVIGATION_STATE_MANUAL_STANDBY,
NAVIGATION_STATE_MANUAL,
NAVIGATION_STATE_SEATBELT_STANDBY,
NAVIGATION_STATE_SEATBELT,
NAVIGATION_STATE_SEATBELT_DESCENT,
NAVIGATION_STATE_ASSISTED_STANDBY,
NAVIGATION_STATE_ASSISTED_SEATBELT,
NAVIGATION_STATE_ASSISTED_SIMPLE,
NAVIGATION_STATE_ASSISTED_DESCENT,
NAVIGATION_STATE_AUTO_STANDBY,
NAVIGATION_STATE_AUTO_READY,
NAVIGATION_STATE_AUTO_TAKEOFF,
@@ -98,7 +99,7 @@ typedef enum {
typedef enum {
MODE_SWITCH_MANUAL = 0,
MODE_SWITCH_SEATBELT,
MODE_SWITCH_ASSISTED,
MODE_SWITCH_AUTO
} mode_switch_pos_t;
@@ -107,6 +108,11 @@ typedef enum {
RETURN_SWITCH_RETURN
} return_switch_pos_t;
typedef enum {
ASSISTED_SWITCH_SEATBELT = 0,
ASSISTED_SWITCH_SIMPLE
} assisted_switch_pos_t;
typedef enum {
MISSION_SWITCH_NONE = 0,
MISSION_SWITCH_MISSION
@@ -179,6 +185,7 @@ struct vehicle_status_s
mode_switch_pos_t mode_switch;
return_switch_pos_t return_switch;
assisted_switch_pos_t assisted_switch;
mission_switch_pos_t mission_switch;
bool condition_battery_voltage_valid;