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Changed location of lots of flags and conditions, needs testing and more work

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This commit is contained in:
Julian Oes
2013-07-16 18:55:32 +02:00
parent 6e44a486c1
commit bcdedd9a35
16 changed files with 149 additions and 164 deletions
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src/modules/uORB/topics/vehicle_control_mode.h
-3
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@@ -66,9 +66,6 @@ struct vehicle_control_mode_s
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_system_emergency;
bool flag_preflight_calibration;
// XXX needs yet to be set by state machine helper
bool flag_system_hil_enabled;
src/modules/uORB/topics/vehicle_status.h
+9 -28
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@@ -177,14 +177,11 @@ struct vehicle_status_s
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
int32_t component_id; /**< subsystem / component id, inspired by MAVLink's component ID field */
/* system flags - these represent the state predicates */
mode_switch_pos_t mode_switch;
return_switch_pos_t return_switch;
mission_switch_pos_t mission_switch;
bool condition_system_emergency;
bool condition_battery_voltage_valid;
bool condition_system_in_air_restore; /**< true if we can restore in mid air */
bool condition_system_sensors_initialized;
bool condition_system_returned_to_home;
@@ -195,28 +192,6 @@ struct vehicle_status_s
bool condition_local_position_valid;
bool condition_airspeed_valid; /**< set to true by the commander app if there is a valid airspeed measurement available */
// bool condition_auto_flight_mode_ok; /**< conditions of auto flight mode apply plus a valid takeoff position lock has been aquired */
bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_hil_enabled; /**< true if hardware in the loop simulation is enabled */
//bool flag_armed; /**< true is motors / actuators are armed */
//bool flag_safety_off; /**< true if safety is off */
bool flag_system_emergency;
bool flag_preflight_calibration;
// bool flag_control_manual_enabled; /**< true if manual input is mixed in */
// bool flag_control_offboard_enabled; /**< true if offboard control input is on */
// bool flag_auto_enabled;
// 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_velocity_enabled; /**< true if speed (implies direction) is controlled */
// bool flag_control_position_enabled; /**< true if position is controlled */
// bool flag_preflight_gyro_calibration; /**< true if gyro calibration is requested */
// bool flag_preflight_mag_calibration; /**< true if mag calibration is requested */
// bool flag_preflight_accel_calibration;
// bool flag_preflight_airspeed_calibration;
bool rc_signal_found_once;
bool rc_signal_lost; /**< true if RC reception is terminally lost */
bool rc_signal_cutting_off; /**< true if RC reception is weak / cutting off */
@@ -230,14 +205,20 @@ struct vehicle_status_s
bool failsave_lowlevel; /**< Set to true if low-level failsafe mode is enabled */
bool failsave_highlevel;
bool preflight_calibration;
bool system_emergency;
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present;
uint32_t onboard_control_sensors_enabled;
uint32_t onboard_control_sensors_health;
float load;
float voltage_battery;
float current_battery;
float battery_voltage;
float battery_current;
float battery_remaining;
enum VEHICLE_BATTERY_WARNING battery_warning; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
uint16_t drop_rate_comm;
uint16_t errors_comm;