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Checkpoint: navigation state machine as discussed with Lorenz

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This commit is contained in:
Julian Oes
2013-02-21 13:06:56 -08:00
parent 0e29f2505a
commit ebe0285ce7
7 changed files with 393 additions and 172 deletions
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apps/uORB/topics/vehicle_status.h
+38 -48
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@@ -60,13 +60,20 @@
/* State Machine */
typedef enum {
SYSTEM_STATE_INIT=0,
SYSTEM_STATE_MANUAL,
SYSTEM_STATE_SEATBELT,
SYSTEM_STATE_AUTO,
SYSTEM_STATE_REBOOT,
SYSTEM_STATE_IN_AIR_RESTORE
} system_state_t;
NAVIGATION_STATE_INIT=0,
NAVIGATION_STATE_MANUAL_STANDBY,
NAVIGATION_STATE_MANUAL,
NAVIGATION_STATE_SEATBELT_STANDBY,
NAVIGATION_STATE_SEATBELT,
NAVIGATION_STATE_SEATBELT_DESCENT,
NAVIGATION_STATE_AUTO_STANDBY,
NAVIGATION_STATE_AUTO_READY,
NAVIGATION_STATE_AUTO_TAKEOFF,
NAVIGATION_STATE_AUTO_LOITER,
NAVIGATION_STATE_AUTO_MISSION,
NAVIGATION_STATE_AUTO_RTL,
NAVIGATION_STATE_AUTO_LAND
} navigation_state_t;
typedef enum {
MANUAL_STANDBY = 0,
@@ -75,50 +82,20 @@ typedef enum {
} manual_state_t;
typedef enum {
SEATBELT_STANDBY,
SEATBELT_READY,
SEATBELT,
SEATBELT_ASCENT,
SEATBELT_DESCENT,
} seatbelt_state_t;
typedef enum {
AUTO_STANDBY,
AUTO_READY,
AUTO_LOITER,
AUTO_MISSION,
AUTO_RTL,
AUTO_TAKEOFF,
AUTO_LAND,
} auto_state_t;
//typedef enum {
// ARMING_STATE_INIT = 0,
// ARMING_STATE_STANDBY,
// ARMING_STATE_ARMED_GROUND,
// ARMING_STATE_ARMED_AIRBORNE,
// ARMING_STATE_ERROR_GROUND,
// ARMING_STATE_ERROR_AIRBORNE,
// ARMING_STATE_REBOOT,
// ARMING_STATE_IN_AIR_RESTORE
//} arming_state_t;
ARMING_STATE_INIT = 0,
ARMING_STATE_STANDBY,
ARMING_STATE_ARMED,
ARMING_STATE_ARMED_ERROR,
ARMING_STATE_STANDBY_ERROR,
ARMING_STATE_REBOOT,
ARMING_STATE_IN_AIR_RESTORE
} arming_state_t;
typedef enum {
HIL_STATE_OFF = 0,
HIL_STATE_ON
} hil_state_t;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
typedef enum {
MODE_SWITCH_MANUAL = 0,
MODE_SWITCH_SEATBELT,
@@ -135,6 +112,17 @@ typedef enum {
MISSION_SWITCH_MISSION
} mission_switch_pos_t;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64,
VEHICLE_MODE_FLAG_HIL_ENABLED = 32,
VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16,
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8,
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4,
VEHICLE_MODE_FLAG_TEST_ENABLED = 2,
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
}; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
/**
* Should match 1:1 MAVLink's MAV_TYPE ENUM
*/
@@ -181,8 +169,8 @@ struct vehicle_status_s
uint64_t failsave_lowlevel_start_time; /**< time when the lowlevel failsafe flag was set */
// uint64_t failsave_highlevel_begin; TO BE COMPLETED
system_state_t system_state; /**< current system state */
// arming_state_t arming_state; /**< current arming state */
navigation_state_t navigation_state; /**< current system state */
arming_state_t arming_state; /**< current arming state */
hil_state_t hil_state; /**< current hil state */
int32_t system_type; /**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
@@ -203,7 +191,9 @@ struct vehicle_status_s
bool flag_system_arming_requested;
bool flag_system_disarming_requested;
bool flag_system_reboot_requested;
bool flag_system_on_ground;
bool flag_system_returned_to_home;
bool flag_auto_enabled;
bool flag_control_manual_enabled; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled; /**< true if offboard control input is on */