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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Report nav_state of mission executor via MAVLink
This commit is contained in:
Matthias Grob
parent
fe91ace0bb
commit
adc9a6d35d
132
msg/px4_msgs_old/msg/VehicleStatusV1.msg
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132
msg/px4_msgs_old/msg/VehicleStatusV1.msg
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@ -0,0 +1,132 @@
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# Encodes the system state of the vehicle published by commander
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint8 arming_state
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uint8 ARMING_STATE_DISARMED = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 latest_arming_reason
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uint8 latest_disarming_reason
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uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
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uint8 ARM_DISARM_REASON_RC_SWITCH = 2
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uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
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uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
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uint8 ARM_DISARM_REASON_MISSION_START = 5
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uint8 ARM_DISARM_REASON_LANDING = 6
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uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
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uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
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uint8 ARM_DISARM_REASON_RC_BUTTON = 13
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uint8 ARM_DISARM_REASON_FAILSAFE = 14
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uint64 nav_state_timestamp # time when current nav_state activated
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uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
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uint8 nav_state # Currently active mode
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_POSITION_SLOW = 6
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uint8 NAVIGATION_STATE_FREE5 = 7
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uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
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uint8 NAVIGATION_STATE_FREE3 = 9
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_FREE2 = 11
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_FREE1 = 16
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_EXTERNAL1 = 23
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uint8 NAVIGATION_STATE_EXTERNAL2 = 24
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uint8 NAVIGATION_STATE_EXTERNAL3 = 25
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uint8 NAVIGATION_STATE_EXTERNAL4 = 26
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uint8 NAVIGATION_STATE_EXTERNAL5 = 27
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uint8 NAVIGATION_STATE_EXTERNAL6 = 28
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uint8 NAVIGATION_STATE_EXTERNAL7 = 29
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uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
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uint8 vehicle_type
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uint8 VEHICLE_TYPE_UNSPECIFIED = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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uint8 VEHICLE_TYPE_ROVER = 3
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uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
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uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
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uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
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uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
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# Link loss
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bool gcs_connection_lost # datalink to GCS lost
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uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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# VTOL flags
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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# MAVLink identification
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 component_id # subsystem / component id, contains MAVLink's component ID field
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bool safety_button_available # Set to true if a safety button is connected
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bool safety_off # Set to true if safety is off
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bool power_input_valid # set if input power is valid
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bool usb_connected # set to true (never cleared) once telemetry received from usb link
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bool open_drone_id_system_present
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bool open_drone_id_system_healthy
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bool parachute_system_present
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bool parachute_system_healthy
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bool rc_calibration_in_progress
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bool calibration_enabled
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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@ -17,4 +17,5 @@
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#include "translation_register_ext_component_request_v1.h"
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#include "translation_vehicle_attitude_setpoint_v1.h"
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#include "translation_vehicle_status_v1.h"
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#include "translation_vehicle_status_v2.h"
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#include "translation_vehicle_local_position_v1.h"
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@ -6,14 +6,14 @@
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// Translate VehicleStatus v0 <--> v1
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#include <px4_msgs_old/msg/vehicle_status_v0.hpp>
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#include <px4_msgs/msg/vehicle_status.hpp>
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#include <px4_msgs_old/msg/vehicle_status_v1.hpp>
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class VehicleStatusV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleStatusV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::VehicleStatus;
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using MessageNewer = px4_msgs_old::msg::VehicleStatusV1;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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@ -0,0 +1,108 @@
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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate VehicleStatus v1 <--> v2
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#include <px4_msgs_old/msg/vehicle_status_v1.hpp>
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#include <px4_msgs/msg/vehicle_status.hpp>
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class VehicleStatusV2Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleStatusV1;
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static_assert(MessageOlder::MESSAGE_VERSION == 1);
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using MessageNewer = px4_msgs::msg::VehicleStatus;
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static_assert(MessageNewer::MESSAGE_VERSION == 2);
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static constexpr const char* kTopic = "fmu/out/vehicle_status";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.armed_time = msg_older.armed_time;
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msg_newer.takeoff_time = msg_older.takeoff_time;
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msg_newer.arming_state = msg_older.arming_state;
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msg_newer.latest_arming_reason = msg_older.latest_arming_reason;
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msg_newer.latest_disarming_reason = msg_older.latest_disarming_reason;
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msg_newer.nav_state_timestamp = msg_older.nav_state_timestamp;
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msg_newer.nav_state_user_intention = msg_older.nav_state_user_intention;
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msg_newer.nav_state = msg_older.nav_state;
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msg_newer.executor_in_charge = msg_older.executor_in_charge;
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msg_newer.nav_state_display = msg_older.nav_state; // use nav_state since active mode executor's navigation state was not known before
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msg_newer.valid_nav_states_mask = msg_older.valid_nav_states_mask;
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msg_newer.can_set_nav_states_mask = msg_older.can_set_nav_states_mask;
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msg_newer.failure_detector_status = msg_older.failure_detector_status;
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msg_newer.hil_state = msg_older.hil_state;
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msg_newer.vehicle_type = msg_older.vehicle_type;
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msg_newer.failsafe = msg_older.failsafe;
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msg_newer.failsafe_and_user_took_over = msg_older.failsafe_and_user_took_over;
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msg_newer.failsafe_defer_state = msg_older.failsafe_defer_state;
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msg_newer.gcs_connection_lost = msg_older.gcs_connection_lost;
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msg_newer.gcs_connection_lost_counter = msg_older.gcs_connection_lost_counter;
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msg_newer.high_latency_data_link_lost = msg_older.high_latency_data_link_lost;
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msg_newer.is_vtol = msg_older.is_vtol;
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msg_newer.is_vtol_tailsitter = msg_older.is_vtol_tailsitter;
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msg_newer.in_transition_mode = msg_older.in_transition_mode;
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msg_newer.in_transition_to_fw = msg_older.in_transition_to_fw;
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msg_newer.system_type = msg_older.system_type;
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msg_newer.system_id = msg_older.system_id;
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msg_newer.component_id = msg_older.component_id;
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msg_newer.safety_button_available = msg_older.safety_button_available;
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msg_newer.safety_off = msg_older.safety_off;
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msg_newer.power_input_valid = msg_older.power_input_valid;
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msg_newer.usb_connected = msg_older.usb_connected;
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msg_newer.open_drone_id_system_present = msg_older.open_drone_id_system_present;
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msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
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msg_newer.parachute_system_present = msg_older.parachute_system_present;
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msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
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msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
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msg_newer.calibration_enabled = msg_older.calibration_enabled;
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msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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// copy everything except the new executor_nav_state
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.armed_time = msg_newer.armed_time;
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msg_older.takeoff_time = msg_newer.takeoff_time;
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msg_older.arming_state = msg_newer.arming_state;
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msg_older.latest_arming_reason = msg_newer.latest_arming_reason;
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msg_older.latest_disarming_reason = msg_newer.latest_disarming_reason;
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msg_older.nav_state_timestamp = msg_newer.nav_state_timestamp;
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msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
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msg_older.nav_state = msg_newer.nav_state;
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msg_older.executor_in_charge = msg_newer.executor_in_charge;
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msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
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msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
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msg_older.failure_detector_status = msg_newer.failure_detector_status;
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msg_older.hil_state = msg_newer.hil_state;
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msg_older.vehicle_type = msg_newer.vehicle_type;
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msg_older.failsafe = msg_newer.failsafe;
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msg_older.failsafe_and_user_took_over = msg_newer.failsafe_and_user_took_over;
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msg_older.failsafe_defer_state = msg_newer.failsafe_defer_state;
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msg_older.gcs_connection_lost = msg_newer.gcs_connection_lost;
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msg_older.gcs_connection_lost_counter = msg_newer.gcs_connection_lost_counter;
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msg_older.high_latency_data_link_lost = msg_newer.high_latency_data_link_lost;
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msg_older.is_vtol = msg_newer.is_vtol;
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msg_older.is_vtol_tailsitter = msg_newer.is_vtol_tailsitter;
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msg_older.in_transition_mode = msg_newer.in_transition_mode;
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msg_older.in_transition_to_fw = msg_newer.in_transition_to_fw;
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msg_older.system_type = msg_newer.system_type;
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msg_older.system_id = msg_newer.system_id;
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msg_older.component_id = msg_newer.component_id;
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msg_older.safety_button_available = msg_newer.safety_button_available;
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msg_older.safety_off = msg_newer.safety_off;
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msg_older.power_input_valid = msg_newer.power_input_valid;
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msg_older.usb_connected = msg_newer.usb_connected;
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msg_older.open_drone_id_system_present = msg_newer.open_drone_id_system_present;
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msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
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msg_older.parachute_system_present = msg_newer.parachute_system_present;
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msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
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msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
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msg_older.calibration_enabled = msg_newer.calibration_enabled;
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msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleStatusV2Translation);
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@ -1,6 +1,6 @@
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# Encodes the system state of the vehicle published by commander
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uint32 MESSAGE_VERSION = 1
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uint32 MESSAGE_VERSION = 2
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uint64 timestamp # time since system start (microseconds)
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@ -63,6 +63,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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@ -2408,9 +2408,10 @@ bool Commander::handleModeIntentionAndFailsafe()
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_mode_management.setFailsafeState(_failsafe.selectedAction() > FailsafeBase::Action::Warn);
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_vehicle_status.nav_state_user_intention = _mode_management.getNavStateReplacementIfValid(_user_mode_intention.get(),
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false);
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_vehicle_status.nav_state = _mode_management.getNavStateReplacementIfValid(FailsafeBase::modeFromAction(
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_failsafe.selectedAction(), _user_mode_intention.get()));
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_vehicle_status.nav_state =
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_mode_management.getNavStateReplacementIfValid(FailsafeBase::modeFromAction(_failsafe.selectedAction(), _user_mode_intention.get()));
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_vehicle_status.executor_in_charge = _mode_management.modeExecutorInCharge(); // Set this in sync with nav_state
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_vehicle_status.nav_state_display = _mode_management.getNavStateDisplay(_vehicle_status.nav_state);
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switch (_failsafe.selectedAction()) {
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case FailsafeBase::Action::Disarm:
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@ -519,6 +519,18 @@ int ModeManagement::modeExecutorInCharge() const
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return _mode_executor_in_charge;
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}
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uint8_t ModeManagement::getNavStateDisplay(uint8_t nav_state) const
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{
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const int executor_in_charge = modeExecutorInCharge();
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if (_mode_executors.valid(executor_in_charge)) {
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return _mode_executors.executor(executor_in_charge).owned_nav_state;
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} else {
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return nav_state;
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}
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}
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bool ModeManagement::updateControlMode(uint8_t nav_state, vehicle_control_mode_s &control_mode) const
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{
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bool ret = false;
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@ -150,6 +150,12 @@ public:
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*/
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int modeExecutorInCharge() const;
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/**
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* Returns the executor's navigation state if active, otherwise nav_state.
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* Exposes the high-level goal rather than the effective sub-mode.
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*/
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uint8_t getNavStateDisplay(uint8_t nav_state) const;
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void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override;
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uint8_t getReplacedModeIfAny(uint8_t nav_state) override;
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@ -208,6 +214,7 @@ public:
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void setFailsafeState(bool failsafe_action_active) {}
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int modeExecutorInCharge() const { return ModeExecutors::AUTOPILOT_EXECUTOR_ID; }
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uint8_t getNavStateDisplay(uint8_t nav_state) const { return nav_state; }
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void onUserIntendedNavStateChange(ModeChangeSource source, uint8_t user_intended_nav_state) override {}
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uint8_t getReplacedModeIfAny(uint8_t nav_state) override { return nav_state; }
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@ -64,10 +64,10 @@ private:
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if (_vehicle_status_sub.update(&vehicle_status)) {
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mavlink_current_mode_t current_mode{};
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current_mode.custom_mode = get_px4_custom_mode(vehicle_status.nav_state).data;
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current_mode.custom_mode = get_px4_custom_mode(vehicle_status.nav_state_display).data;
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current_mode.intended_custom_mode = get_px4_custom_mode(vehicle_status.nav_state_user_intention).data;
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current_mode.standard_mode = (uint8_t) mode_util::getStandardModeFromNavState(vehicle_status.nav_state,
|
||||
vehicle_status.vehicle_type, vehicle_status.is_vtol);
|
||||
current_mode.standard_mode =
|
||||
(uint8_t) mode_util::getStandardModeFromNavState(vehicle_status.nav_state_display, vehicle_status.vehicle_type, vehicle_status.is_vtol);
|
||||
mavlink_msg_current_mode_send_struct(_mavlink->get_channel(), ¤t_mode);
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -100,8 +100,8 @@ private:
|
||||
}
|
||||
|
||||
|
||||
// uint32_t custom_mode - A bitfield for use for autopilot-specific flags
|
||||
union px4_custom_mode custom_mode {get_px4_custom_mode(vehicle_status.nav_state)};
|
||||
// uint32_t custom_mode - Bitfield for autopilot-specific flags
|
||||
union px4_custom_mode custom_mode = get_px4_custom_mode(vehicle_status.nav_state_display);
|
||||
|
||||
|
||||
// uint8_t system_status (MAV_STATE) - System status flag.
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user