From f472ac577afa6ca39089f69981731b78048850b9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Mar 2016 15:39:12 +0100 Subject: [PATCH] Cleanup for manual control messages --- msg/manual_control_setpoint.msg | 18 +++++++++--------- msg/vehicle_status.msg | 5 +++-- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg index 48f2df00a5..81d77635ee 100644 --- a/msg/manual_control_setpoint.msg +++ b/msg/manual_control_setpoint.msg @@ -3,14 +3,14 @@ uint8 SWITCH_POS_NONE = 0 # switch is not mapped uint8 SWITCH_POS_ON = 1 # switch activated (value = 1) uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0) uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1) -uint8 MODE_SLOT_NONE = 0 # no mode slot assigned -uint8 MODE_SLOT_1 = 1 # mode slot 1 selected -uint8 MODE_SLOT_2 = 2 # mode slot 2 selected -uint8 MODE_SLOT_3 = 3 # mode slot 3 selected -uint8 MODE_SLOT_4 = 4 # mode slot 4 selected -uint8 MODE_SLOT_5 = 5 # mode slot 5 selected -uint8 MODE_SLOT_6 = 6 # mode slot 6 selected -uint8 MODE_SLOT_MAX = 7 # number of slots plus one +int8 MODE_SLOT_NONE = -1 # no mode slot assigned +int8 MODE_SLOT_1 = 0 # mode slot 1 selected +int8 MODE_SLOT_2 = 1 # mode slot 2 selected +int8 MODE_SLOT_3 = 2 # mode slot 3 selected +int8 MODE_SLOT_4 = 3 # mode slot 4 selected +int8 MODE_SLOT_5 = 4 # mode slot 5 selected +int8 MODE_SLOT_6 = 5 # mode slot 6 selected +int8 MODE_SLOT_MAX = 6 # number of slots plus one uint64 timestamp @@ -53,4 +53,4 @@ uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD uint8 kill_switch # throttle kill: _NORMAL_, KILL -uint8 mode_slot # the slot a specific model selector is in +int8 mode_slot # the slot a specific model selector is in diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg index f9b0bdbd69..2df2ad6d87 100644 --- a/msg/vehicle_status.msg +++ b/msg/vehicle_status.msg @@ -39,14 +39,15 @@ uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data lin uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down) uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode -uint8 NAVIGATION_STATE_LAND = 11 # Land mode +uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode uint8 NAVIGATION_STATE_OFFBOARD = 14 uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff -uint8 NAVIGATION_STATE_MAX = 18 +uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land +uint8 NAVIGATION_STATE_MAX = 19 # VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128