mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 13:07:34 +08:00
Don Gagne
71 lines
3.0 KiB
C
71 lines
3.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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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/**
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* @file state_machine_helper.h
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* State machine helper functions definitions
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*
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <julian@oes.ch>
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*/
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#ifndef STATE_MACHINE_HELPER_H_
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#define STATE_MACHINE_HELPER_H_
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/safety.h>
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typedef enum {
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TRANSITION_DENIED = -1,
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TRANSITION_NOT_CHANGED = 0,
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TRANSITION_CHANGED
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} transition_result_t;
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bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
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transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
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arming_state_t new_arming_state, struct actuator_armed_s *armed, bool fRunPreArmChecks, const int mavlink_fd);
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transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
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transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
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bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
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int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
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#endif /* STATE_MACHINE_HELPER_H_ */
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