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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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94 lines
3.6 KiB
C
94 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2014 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 vehicle_control_mode.h
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* Definition of the vehicle_control_mode uORB topic.
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*
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* All control apps should depend their actions based on the flags set here.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
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* @author Thomas Gubler <thomasgubler@student.ethz.ch>
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* @author Julian Oes <joes@student.ethz.ch>
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*/
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#ifndef VEHICLE_CONTROL_MODE
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#define VEHICLE_CONTROL_MODE
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#include <stdint.h>
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#include <stdbool.h>
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#include "../uORB.h"
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#include "vehicle_status.h"
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/**
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* @addtogroup topics @{
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*/
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/**
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* state machine / state of vehicle.
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*
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* Encodes the complete system state and is set by the commander app.
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*/
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struct vehicle_control_mode_s {
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uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
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bool flag_armed;
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bool flag_external_manual_override_ok; /**< external override non-fatal for system. Only true for fixed wing */
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// XXX needs yet to be set by state machine helper
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bool flag_system_hil_enabled;
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bool flag_control_manual_enabled; /**< true if manual input is mixed in */
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bool flag_control_auto_enabled; /**< true if onboard autopilot should act */
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bool flag_control_rates_enabled; /**< true if rates are stabilized */
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bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
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bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */
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bool flag_control_position_enabled; /**< true if position is controlled */
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bool flag_control_altitude_enabled; /**< true if altitude is controlled */
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bool flag_control_climb_rate_enabled; /**< true if climb rate is controlled */
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bool flag_control_termination_enabled; /**< true if flighttermination is enabled */
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};
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_control_mode);
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#endif
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