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Merge commit '95bdc1a9bd364ce95abe06b097579cc8a9162e33' into navigator_new_vector

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This commit is contained in:
Anton Babushkin
2013-12-30 08:55:26 +04:00
parent f084ddfeb0 95bdc1a9bd
commit a71b04775c
41 changed files with 1633 additions and 1978 deletions
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src/modules/uORB/topics/mission.h
-1
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@@ -91,7 +91,6 @@ struct mission_item_s
float time_inside; /**< time that the MAV should stay inside the radius before advancing in seconds */
float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */
bool autocontinue; /**< true if next waypoint should follow after this one */
int index; /**< index matching the mavlink waypoint */
enum ORIGIN origin; /**< where the waypoint has been generated */
};
src/modules/uORB/topics/vehicle_control_mode.h
+16 -3
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@@ -48,6 +48,7 @@
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include "vehicle_status.h"
/**
* @addtogroup topics @{
@@ -59,10 +60,25 @@
*
* Encodes the complete system state and is set by the commander app.
*/
typedef enum {
NAV_STATE_INIT = 0,
NAV_STATE_NONE,
NAV_STATE_LOITER,
NAV_STATE_MISSION,
NAV_STATE_MISSION_LOITER,
NAV_STATE_RTL,
NAV_STATE_RTL_LOITER,
NAV_STATE_MAX
} nav_state_t;
struct vehicle_control_mode_s
{
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
main_state_t main_state;
nav_state_t nav_state;
bool flag_armed;
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
@@ -79,9 +95,6 @@ struct vehicle_control_mode_s
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_flighttermination_enabled; /**< true if flighttermination is enabled */
bool flag_control_auto_enabled; // TEMP
uint8_t auto_state; // TEMP navigation state for AUTO modes
};
/**
src/modules/uORB/topics/vehicle_status.h
+2 -16
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@@ -66,20 +66,6 @@ typedef enum {
MAIN_STATE_AUTO,
} main_state_t;
/* navigation state machine */
typedef enum {
NAVIGATION_STATE_DIRECT = 0, // true manual control, no any stabilization
NAVIGATION_STATE_STABILIZE, // attitude stabilization
NAVIGATION_STATE_ALTHOLD, // attitude + altitude stabilization
NAVIGATION_STATE_VECTOR, // attitude + altitude + position stabilization
NAVIGATION_STATE_AUTO_READY, // AUTO, landed, reeady for takeoff
NAVIGATION_STATE_AUTO_TAKEOFF, // detect takeoff using land detector and switch to desired AUTO mode
NAVIGATION_STATE_AUTO_LOITER, // pause mission
NAVIGATION_STATE_AUTO_MISSION, // fly mission
NAVIGATION_STATE_AUTO_RTL, // Return To Launch, when home position switch to LAND
NAVIGATION_STATE_AUTO_LAND // land and switch to AUTO_READY when landed (detect using land detector)
} navigation_state_t;
typedef enum {
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
@@ -95,7 +81,6 @@ typedef enum {
HIL_STATE_ON
} hil_state_t;
typedef enum {
FLIGHTTERMINATION_STATE_OFF = 0,
FLIGHTTERMINATION_STATE_ON
@@ -182,7 +167,8 @@ struct vehicle_status_s
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
main_state_t main_state; /**< main state machine */
navigation_state_t navigation_state; /**< navigation state machine */
unsigned int set_nav_state; /**< set navigation state machine to specified value */
uint64_t set_nav_state_timestamp; /**< timestamp of latest change of set_nav_state */
arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */