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State machine cleanup, introduced variable rates for MAVLink depending on the baud rate

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Lorenz Meier
2012-08-18 16:48:43 +02:00
parent e707574f73
commit dc484c1d21
7 changed files with 142 additions and 76 deletions
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apps/uORB/topics/vehicle_status.h
+23 -9
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@@ -87,9 +87,16 @@ enum VEHICLE_MODE_FLAG {
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
enum VEHICLE_FLIGHT_MODE {
VEHICLE_FLIGHT_MODE_MANUAL,
VEHICLE_FLIGHT_MODE_STABILIZED,
VEHICLE_FLIGHT_MODE_AUTO
VEHICLE_FLIGHT_MODE_MANUAL = 0, /**< direct manual control, same as VEHICLE_FLIGHT_MODE_ATTITUDE for multirotors */
VEHICLE_FLIGHT_MODE_ATTITUDE, /**< attitude or rate stabilization, as defined by VEHICLE_ATTITUDE_MODE */
VEHICLE_FLIGHT_MODE_STABILIZED, /**< attitude or rate stabilization plus velocity or position stabilization */
VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
};
enum VEHICLE_ATTITUDE_MODE {
VEHICLE_ATTITUDE_MODE_DIRECT, /**< no attitude control, direct stick input mixing (only fixed wing) */
VEHICLE_ATTITUDE_MODE_RATES, /**< body rates control mode */
VEHICLE_ATTITUDE_MODE_ATTITUDE /**< tait-bryan attitude control mode */
};
/**
@@ -106,14 +113,21 @@ struct vehicle_status_s
commander_state_machine_t state_machine; /**< Current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode; /**< Current flight mode, as defined by mode switch */
enum VEHICLE_ATTITUDE_MODE attitute_mode; /**< Current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
uint8_t mode;
// uint8_t mode;
bool control_manual_enabled; /**< true if manual input is mixed in */
bool control_rates_enabled; /**< true if rates are stabilized */
bool control_attitude_enabled; /**< true if attitude stabilization is mixed in */
bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
bool control_position_enabled; /**< true if position is controlled */
/* system flags - these represent the state predicates */
bool flag_system_armed; /**< True is motors / actuators are armed */
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_hil_enabled; /**< True if hardware in the loop simulation is enabled */
// bool flag_control_rates_enabled; /**< true if rates are stabilized */
// bool flag_control_attitude_enabled; *< true if attitude stabilization is mixed in
// bool control_speed_enabled; /**< true if speed (implies direction) is controlled */
// bool control_position_enabled; /**< true if position is controlled */
bool preflight_gyro_calibration; /**< true if gyro calibration is requested */
bool preflight_mag_calibration; /**< true if mag calibration is requested */