fly316/PX4-Autopilot
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delete RATTITUDE flight mode

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This commit is contained in:
Daniel Agar
2021-03-09 10:47:00 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
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msg/commander_state.msg
+15 -15
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@@ -1,21 +1,21 @@
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
uint64 timestamp # time since system start (microseconds)
uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
uint8 MAIN_STATE_RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
# LEGACY RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 main_state # main state machine
msg/manual_control_switches.msg
-1
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@@ -30,7 +30,6 @@ uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGH
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
msg/rc_channels.msg
+27 -28
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@@ -1,37 +1,36 @@
uint64 timestamp # time since system start (microseconds)
uint8 FUNCTION_THROTTLE=0
uint8 FUNCTION_ROLL=1
uint8 FUNCTION_PITCH=2
uint8 FUNCTION_YAW=3
uint8 FUNCTION_MODE=4
uint8 FUNCTION_RETURN=5
uint8 FUNCTION_POSCTL=6
uint8 FUNCTION_LOITER=7
uint8 FUNCTION_OFFBOARD=8
uint8 FUNCTION_ACRO=9
uint8 FUNCTION_FLAPS=10
uint8 FUNCTION_AUX_1=11
uint8 FUNCTION_AUX_2=12
uint8 FUNCTION_AUX_3=13
uint8 FUNCTION_AUX_4=14
uint8 FUNCTION_AUX_5=15
uint8 FUNCTION_PARAM_1=16
uint8 FUNCTION_PARAM_2=17
uint8 FUNCTION_PARAM_3_5=18
uint8 FUNCTION_RATTITUDE=19
uint8 FUNCTION_KILLSWITCH=20
uint8 FUNCTION_TRANSITION=21
uint8 FUNCTION_GEAR=22
uint8 FUNCTION_ARMSWITCH=23
uint8 FUNCTION_STAB=24
uint8 FUNCTION_AUX_6=25
uint8 FUNCTION_MAN=26
uint8 FUNCTION_THROTTLE = 0
uint8 FUNCTION_ROLL = 1
uint8 FUNCTION_PITCH = 2
uint8 FUNCTION_YAW = 3
uint8 FUNCTION_MODE = 4
uint8 FUNCTION_RETURN = 5
uint8 FUNCTION_POSCTL = 6
uint8 FUNCTION_LOITER = 7
uint8 FUNCTION_OFFBOARD = 8
uint8 FUNCTION_ACRO = 9
uint8 FUNCTION_FLAPS = 10
uint8 FUNCTION_AUX_1 = 11
uint8 FUNCTION_AUX_2 = 12
uint8 FUNCTION_AUX_3 = 13
uint8 FUNCTION_AUX_4 = 14
uint8 FUNCTION_AUX_5 = 15
uint8 FUNCTION_PARAM_1 = 16
uint8 FUNCTION_PARAM_2 = 17
uint8 FUNCTION_PARAM_3_5 = 18
uint8 FUNCTION_KILLSWITCH = 19
uint8 FUNCTION_TRANSITION = 20
uint8 FUNCTION_GEAR = 21
uint8 FUNCTION_ARMSWITCH = 22
uint8 FUNCTION_STAB = 23
uint8 FUNCTION_AUX_6 = 24
uint8 FUNCTION_MAN = 25
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[27] function # Functions mapping
int8[26] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames
msg/vehicle_control_mode.msg
-1
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@@ -8,7 +8,6 @@ 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_rattitude_enabled # true if rate/attitude stabilization is enabled
bool flag_control_acceleration_enabled # true if acceleration is controlled
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_position_enabled # true if position is controlled
msg/vehicle_status.msg
+1 -1
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@@ -37,7 +37,7 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_UNUSED2 = 16 # Free slot
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow