diff --git a/msg/px4_msgs/vehicle_control_mode.msg b/msg/px4_msgs/vehicle_control_mode.msg new file mode 100644 index 0000000000..153a642bb4 --- /dev/null +++ b/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 diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e07bcc225f..f8399d10be 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -77,6 +77,7 @@ #include #include #include +#include #include #include #include diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 6c4b5c707d..036dd4c48f 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -53,7 +53,6 @@ #include #include -#include #include #include #include diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h deleted file mode 100644 index 2dd8550bc4..0000000000 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ /dev/null @@ -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 - * @author Petri Tanskanen - * @author Thomas Gubler - * @author Julian Oes - */ - -#ifndef VEHICLE_CONTROL_MODE -#define VEHICLE_CONTROL_MODE - -#include -#include -#include -#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 diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h index 950f5cc795..a8b94076e6 100644 --- a/src/platforms/px4_includes.h +++ b/src/platforms/px4_includes.h @@ -60,6 +60,7 @@ #include #include #include +#include #include #include