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Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

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Anton Babushkin
2014-06-13 15:11:06 +02:00
parent 842e7c3df9 e14d475142
commit d84cbd008c
13 changed files with 58 additions and 57 deletions
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src/modules/uORB/topics/vehicle_status.h
+19 -18
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@@ -1,10 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @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>
* 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
@@ -45,6 +41,11 @@
* All apps should write to subsystem_info:
*
* (any app) --> subsystem_info (published) --> (commander app state machine) --> vehicle_status --> (mavlink app)
*
* @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 <julian@oes.ch>
*/
#ifndef VEHICLE_STATUS_H_
@@ -90,25 +91,25 @@ typedef enum {
typedef enum {
FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */
FAILSAFE_STATE_RTL_RC, /**< Return To Launch on remote control loss */
FAILSAFE_STATE_RTL_DL, /**< Return To Launch on datalink loss */
FAILSAFE_STATE_RC_LOSS, /**< Return To Launch on remote control loss */
FAILSAFE_STATE_DL_LOSS, /**< Return To Launch on datalink loss */
FAILSAFE_STATE_LAND, /**< Land as safe as possible */
FAILSAFE_STATE_TERMINATION, /**< Disable motors and use parachute, can't be recovered */
FAILSAFE_STATE_MAX,
} failsafe_state_t;
typedef enum {
NAVIGATION_STATE_MANUAL = 0,
NAVIGATION_STATE_ACRO,
NAVIGATION_STATE_ALTCTL,
NAVIGATION_STATE_POSCTL,
NAVIGATION_STATE_AUTO_MISSION,
NAVIGATION_STATE_AUTO_LOITER,
NAVIGATION_STATE_AUTO_RTL,
NAVIGATION_STATE_AUTO_RTL_RC,
NAVIGATION_STATE_AUTO_RTL_DL,
NAVIGATION_STATE_LAND,
NAVIGATION_STATE_TERMINATION,
NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
NAVIGATION_STATE_ACRO, /**< Acro mode */
NAVIGATION_STATE_ALTCTL, /**< Altitude control mode */
NAVIGATION_STATE_POSCTL, /**< Position control mode */
NAVIGATION_STATE_AUTO_MISSION, /**< Auto mission mode */
NAVIGATION_STATE_AUTO_LOITER, /**< Auto loiter mode */
NAVIGATION_STATE_AUTO_RTL, /**< Auto RTL mode */
NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS, /**< Auto failsafe on RC loss mode */
NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS, /**< Auto failsafe on datalink loss mode */
NAVIGATION_STATE_LAND, /**< Land mode */
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
} navigation_state_t;
enum VEHICLE_MODE_FLAG {