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commander: failsafe_state removed, replaced with bool failsafe, navigation state and failsafe determined directly from main state and conditions

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This commit is contained in:
Anton Babushkin
2014-06-16 17:34:21 +02:00
parent 91f0b9eee4
commit e0ed0625f8
9 changed files with 122 additions and 115 deletions
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src/modules/uORB/topics/vehicle_status.h
+11 -14
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@@ -59,7 +59,9 @@
* @addtogroup topics @{
*/
/* main state machine */
/**
* Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
*/
typedef enum {
MAIN_STATE_MANUAL = 0,
MAIN_STATE_ALTCTL,
@@ -89,15 +91,9 @@ typedef enum {
HIL_STATE_ON
} hil_state_t;
typedef enum {
FAILSAFE_STATE_NORMAL = 0, /**< Normal operation */
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;
/**
* Navigation state, i.e. "what should vehicle do".
*/
typedef enum {
NAVIGATION_STATE_MANUAL = 0, /**< Manual mode */
NAVIGATION_STATE_ACRO, /**< Acro mode */
@@ -106,9 +102,8 @@ typedef enum {
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_DESCEND, /**< Descend mode (no position control) */
NAVIGATION_STATE_TERMINATION, /**< Termination mode */
} navigation_state_t;
@@ -171,10 +166,10 @@ struct vehicle_status_s {
uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
main_state_t main_state; /**< main state machine */
navigation_state_t set_nav_state; /**< set navigation state machine to specified value */
navigation_state_t nav_state; /**< set navigation state machine to specified value */
arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */
failsafe_state_t failsafe_state; /**< current failsafe state */
bool failsafe; /**< true if system is in failsafe state */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
int32_t system_id; /**< system id, inspired by MAVLink's system ID field */
@@ -199,6 +194,8 @@ struct vehicle_status_s {
bool rc_signal_lost; /**< true if RC reception lost */
bool rc_input_blocked; /**< set if RC input should be ignored */
bool data_link_lost; /**< datalink to GCS lost */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;
bool offboard_control_signal_weak;