Controllers should not access state machine anymore but access the vehicle_control_mode flags

src/modules/uORB/objects_common.cpp

@@ -98,6 +98,9 @@ ORB_DEFINE(rc_channels, struct rc_channels_s);
 #include "topics/vehicle_command.h"
 ORB_DEFINE(vehicle_command, struct vehicle_command_s);
 
+#include "topics/vehicle_control_mode.h"
+ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s);
+
 #include "topics/vehicle_local_position_setpoint.h"
 ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
 

src/modules/uORB/topics/actuator_safety.h

@@ -58,6 +58,7 @@ struct actuator_safety_s {
 	bool	armed;		/**< Set to true if system is armed */
 	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool	hil_enabled;	/**< Set to true if hardware-in-the-loop (HIL) is enabled */
 };
 
 ORB_DECLARE(actuator_safety);

src/modules/uORB/topics/vehicle_control_mode.h

@@ -61,16 +61,11 @@
  */
 struct vehicle_control_mode_s
 {
-	/* use of a counter and timestamp recommended (but not necessary) */
-
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
 	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
 
-	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
-	bool flag_armed;				/**< true is motors / actuators are armed  */
-	bool flag_safety_off;				/**< true if safety is off */
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
@@ -83,7 +78,7 @@ struct vehicle_control_mode_s
 	bool flag_control_position_enabled;		/**< true if position is controlled */
 
 	bool failsave_lowlevel;				/**< Set to true if low-level failsafe mode is enabled */
-	bool failsave_highlevel;
+	bool failsave_highlevel;			/**< Set to true if high-level failsafe mode is enabled */
 };
 
 /**
@@ -91,6 +86,6 @@ struct vehicle_control_mode_s
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(vehicle_status);
+ORB_DECLARE(vehicle_control_mode);
 
 #endif

src/modules/uORB/topics/vehicle_status.h

@@ -199,18 +199,18 @@ struct vehicle_status_s
 	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
 
 	bool flag_hil_enabled;				/**< true if hardware in the loop simulation is enabled */
-	bool flag_armed;				/**< true is motors / actuators are armed  */
-	bool flag_safety_off;				/**< true if safety is off */
+	//bool flag_armed;				/**< true is motors / actuators are armed  */
+	//bool flag_safety_off;				/**< true if safety is off */
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
-	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
-	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
-	bool flag_auto_enabled;
-	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
-	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
-	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
-	bool flag_control_position_enabled;		/**< true if position is controlled */
+	// bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
+	// bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	// bool flag_auto_enabled;
+	// bool flag_control_rates_enabled;		/**< true if rates are stabilized */
+	// bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	// bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */
+	// bool flag_control_position_enabled;		/**< true if position is controlled */
 
 	// bool flag_preflight_gyro_calibration;		/**< true if gyro calibration is requested */
 	// bool flag_preflight_mag_calibration;		/**< true if mag calibration is requested */