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451 lines
18 KiB
C++
451 lines
18 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017, 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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/* Helper classes */
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#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
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#include "failure_detector/FailureDetector.hpp"
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#include "ManualControl.hpp"
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#include "state_machine_helper.h"
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#include "worker_thread.hpp"
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#include <lib/controllib/blocks.hpp>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/mathlib/mathlib.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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// publications
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/failure_detector_status.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/landing_gear.h>
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#include <uORB/topics/test_motor.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionMultiArray.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/iridiumsbd_status.h>
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#include <uORB/topics/manual_control_switches.h>
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#include <uORB/topics/mission.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/offboard_control_mode.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/power_button_state.h>
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#include <uORB/topics/rtl_flight_time.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/system_power.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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#include <uORB/topics/wind.h>
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using math::constrain;
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using systemlib::Hysteresis;
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using namespace time_literals;
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class Commander : public ModuleBase<Commander>, public ModuleParams
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{
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public:
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Commander();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static Commander *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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/** @see ModuleBase::print_status() */
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int print_status() override;
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void enable_hil();
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void get_circuit_breaker_params();
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private:
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void answer_command(const vehicle_command_s &cmd, uint8_t result);
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transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true);
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transition_result_t disarm(arm_disarm_reason_t calling_reason);
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transition_result_t try_mode_change(main_state_t desired_mode);
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void battery_status_check();
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us,
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const bool was_valid);
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void control_status_leds(bool changed, const uint8_t battery_warning);
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/**
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* Checks the status of all available data links and handles switching between different system telemetry states.
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*/
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void data_link_check();
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void avoidance_check();
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void esc_status_check();
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void estimator_check();
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bool handle_command(const vehicle_command_s &cmd);
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unsigned handle_command_motor_test(const vehicle_command_s &cmd);
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void mission_init();
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void offboard_control_update();
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void print_reject_mode(uint8_t main_state);
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void reset_posvel_validity();
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bool set_home_position();
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bool set_home_position_alt_only();
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bool set_in_air_home_position();
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bool isGPosGoodForInitializingHomePos(const vehicle_global_position_s &gpos) const;
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void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos) const;
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void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading) const;
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void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos) const;
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void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt) const;
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void setHomePosValid();
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void updateHomePositionYaw(float yaw);
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void update_control_mode();
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void UpdateEstimateValidity();
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state();
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bool shutdown_if_allowed();
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bool stabilization_required();
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void send_parachute_command();
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void checkWindAndWarn();
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
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(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
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(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
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(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
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(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
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(ParamFloat<px4::params::COM_RCL_ACT_T>) _param_com_rcl_act_t,
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(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,
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(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
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(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
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(ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air,
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(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
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(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, /*Not realy used for now*/
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(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
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(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl, /* failsafe response to loss of navigation accuracy */
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(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
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(ParamInt<px4::params::COM_POS_FS_PROB>) _param_com_pos_fs_prob,
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(ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
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(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
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(ParamInt<px4::params::COM_IMB_PROP_ACT>) _param_com_imb_prop_act,
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(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
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(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
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(ParamBool<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
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(ParamInt<px4::params::COM_FLT_PROFILE>) _param_com_flt_profile,
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(ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t,
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(ParamFloat<px4::params::COM_WIND_WARN>) _param_com_wind_warn,
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// Offboard
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(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,
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(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
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(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
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(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
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(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
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(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
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(ParamFloat<px4::params::COM_LKDOWN_TKO>) _param_com_lkdown_tko,
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// Engine failure
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(ParamFloat<px4::params::COM_EF_THROT>) _param_ef_throttle_thres,
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(ParamFloat<px4::params::COM_EF_C2T>) _param_ef_current2throttle_thres,
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(ParamFloat<px4::params::COM_EF_TIME>) _param_ef_time_thres,
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(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_arm_without_gps,
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(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
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(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
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(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
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(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
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(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
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(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
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(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
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(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
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(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
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(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
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(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
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(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
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(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
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// Circuit breakers
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(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
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(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
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(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
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(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
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(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
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(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr,
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(ParamInt<px4::params::CBRK_VTOLARMING>) _param_cbrk_vtolarming,
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// Geofrence
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(ParamInt<px4::params::GF_ACTION>) _param_geofence_action,
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// Mavlink
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(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
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(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
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(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
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(ParamFloat<px4::params::CP_DIST>) _param_cp_dist,
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(ParamFloat<px4::params::BAT_LOW_THR>) _param_bat_low_thr,
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(ParamFloat<px4::params::BAT_CRIT_THR>) _param_bat_crit_thr
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)
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enum class PrearmedMode {
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DISABLED = 0,
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SAFETY_BUTTON = 1,
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ALWAYS = 2
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};
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/* Decouple update interval and hysteresis counters, all depends on intervals */
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static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
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static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s}; /**< wait for hotplug sensors to come online for upto 8 seconds */
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static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms};
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const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */
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const int64_t POSVEL_PROBATION_MAX = 100_s; /**< maximum probation duration (usec) */
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PreFlightCheck::arm_requirements_t _arm_requirements{};
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hrt_abstime _valid_distance_sensor_time_us{0}; /**< Last time that distance sensor data arrived (usec) */
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hrt_abstime _last_gpos_fail_time_us{0}; /**< Last time that the global position validity recovery check failed (usec) */
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hrt_abstime _last_lpos_fail_time_us{0}; /**< Last time that the local position validity recovery check failed (usec) */
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hrt_abstime _last_lvel_fail_time_us{0}; /**< Last time that the local velocity validity recovery check failed (usec) */
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// Probation times for position and velocity validity checks to pass if failed
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hrt_abstime _gpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lpos_probation_time_us = POSVEL_PROBATION_MIN;
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hrt_abstime _lvel_probation_time_us = POSVEL_PROBATION_MIN;
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/* class variables used to check for navigation failure after takeoff */
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hrt_abstime _time_last_innov_pass{0}; /**< last time velocity and position innovations passed */
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hrt_abstime _time_last_innov_fail{0}; /**< last time velocity and position innovations failed */
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bool _nav_test_passed{false}; /**< true if the post takeoff navigation test has passed */
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bool _nav_test_failed{false}; /**< true if the post takeoff navigation test has failed */
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bool _geofence_loiter_on{false};
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bool _geofence_rtl_on{false};
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bool _geofence_land_on{false};
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bool _geofence_warning_action_on{false};
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bool _geofence_violated_prev{false};
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FailureDetector _failure_detector;
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bool _flight_termination_triggered{false};
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bool _lockdown_triggered{false};
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bool _imbalanced_propeller_check_triggered{false};
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hrt_abstime _datalink_last_heartbeat_gcs{0};
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hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
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hrt_abstime _datalink_last_heartbeat_onboard_controller{0};
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bool _onboard_controller_lost{false};
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bool _avoidance_system_lost{false};
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hrt_abstime _high_latency_datalink_heartbeat{0};
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hrt_abstime _high_latency_datalink_lost{0};
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int _last_esc_online_flags{-1};
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int _last_esc_failure[esc_status_s::CONNECTED_ESC_MAX] {};
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hrt_abstime _last_esc_status_updated{0};
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uint8_t _battery_warning{battery_status_s::BATTERY_WARNING_NONE};
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float _battery_current{0.0f};
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Hysteresis _auto_disarm_landed{false};
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Hysteresis _auto_disarm_killed{false};
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Hysteresis _offboard_available{false};
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hrt_abstime _last_print_mode_reject_time{0}; ///< To remember when last notification was sent
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bool _last_condition_local_altitude_valid{false};
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bool _last_condition_local_position_valid{false};
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bool _last_condition_global_position_valid{false};
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bool _last_overload{false};
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unsigned int _leds_counter{0};
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manual_control_switches_s _manual_control_switches{};
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manual_control_switches_s _last_manual_control_switches{};
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ManualControl _manual_control{this};
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hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
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int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
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hrt_abstime _boot_timestamp{0};
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hrt_abstime _last_disarmed_timestamp{0};
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hrt_abstime _timestamp_engine_healthy{0}; ///< absolute time when engine was healty
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hrt_abstime _overload_start{0}; ///< time when CPU overload started
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uint32_t _counter{0};
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uint8_t _heading_reset_counter{0};
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bool _status_changed{true};
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bool _arm_tune_played{false};
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bool _was_armed{false};
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bool _failsafe_old{false}; ///< check which state machines for changes, clear "changed" flag
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bool _have_taken_off_since_arming{false};
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bool _should_set_home_on_takeoff{true};
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bool _system_power_usb_connected{false};
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cpuload_s _cpuload{};
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geofence_result_s _geofence_result{};
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vehicle_land_detected_s _land_detector{};
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safety_s _safety{};
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vtol_vehicle_status_s _vtol_status{};
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hrt_abstime _last_wind_warning{0};
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// commander publications
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actuator_armed_s _armed{};
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commander_state_s _internal_state{};
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vehicle_control_mode_s _vehicle_control_mode{};
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vehicle_status_s _status{};
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vehicle_status_flags_s _status_flags{};
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WorkerThread _worker_thread;
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// Subscriptions
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uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
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uORB::Subscription _cmd_sub {ORB_ID(vehicle_command)};
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uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
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uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
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uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};
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uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
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uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _safety_sub{ORB_ID(safety)};
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uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
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uORB::Subscription _system_power_sub{ORB_ID(system_power)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
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uORB::Subscription _wind_sub{ORB_ID(wind)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
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uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
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uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};
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#if defined(BOARD_HAS_POWER_CONTROL)
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uORB::Subscription _power_button_state_sub {ORB_ID(power_button_state)};
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#endif // BOARD_HAS_POWER_CONTROL
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uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
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uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
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uORB::SubscriptionData<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
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uORB::SubscriptionData<offboard_control_mode_s> _offboard_control_mode_sub{ORB_ID(offboard_control_mode)};
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uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
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uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::SubscriptionData<rtl_flight_time_s> _rtl_flight_time_sub{ORB_ID(rtl_flight_time)};
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// Publications
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uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
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uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
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uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
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uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
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uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
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uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
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uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
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uORB::Publication<mission_s> _mission_pub{ORB_ID(mission)};
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uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
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uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};
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uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
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orb_advert_t _mavlink_log_pub{nullptr};
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};
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