vehicle cotnrol mode as msg

msg/px4_msgs/vehicle_control_mode.msg

@@ -0,0 +1,22 @@
+
+uint64 timestamp				# in microseconds since system start
+						# is set whenever the writing thread stores new data
+
+bool flag_armed
+
+bool flag_external_manual_override_ok		# external override non-fatal for system. Only true for fixed wing
+
+# XXX needs yet to be set by state machine helper
+bool flag_system_hil_enabled
+
+bool flag_control_manual_enabled		# true if manual input is mixed in
+bool flag_control_auto_enabled			# true if onboard autopilot should act
+bool flag_control_offboard_enabled		# true if offboard control should be used
+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_force_enabled			# true if force control is mixed in
+bool flag_control_velocity_enabled		# true if horizontal velocity (implies direction) is controlled
+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

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -77,6 +77,7 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_status.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/pid/pid.h>

src/modules/mc_att_control/mc_att_control_base.h

@@ -53,7 +53,6 @@
 #include <errno.h>
 #include <math.h>
 
-#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <systemlib/perf_counter.h>

src/modules/uORB/topics/vehicle_control_mode.h

@@ -1,95 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file vehicle_control_mode.h
- * Definition of the vehicle_control_mode uORB topic.
- *
- * All control apps should depend their actions based on the flags set here.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- */
-
-#ifndef VEHICLE_CONTROL_MODE
-#define VEHICLE_CONTROL_MODE
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-#include "vehicle_status.h"
-
-/**
- * @addtogroup topics @{
- */
-
-
-/**
- * state machine / state of vehicle.
- *
- * Encodes the complete system state and is set by the commander app.
- */
-
-struct vehicle_control_mode_s {
-	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
-
-	bool flag_armed;
-
-	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
-
-	// XXX needs yet to be set by state machine helper
-	bool flag_system_hil_enabled;
-
-	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
-	bool flag_control_auto_enabled;			/**< true if onboard autopilot should act */
-	bool flag_control_offboard_enabled;		/**< true if offboard control should be used */
-	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_force_enabled;		/**< true if force control is mixed in */
-	bool flag_control_velocity_enabled;		/**< true if horizontal velocity (implies direction) is controlled */
-	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 */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_control_mode);
-
-#endif

src/platforms/px4_includes.h

@@ -60,6 +60,7 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>