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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
32c3135788
The commander used to consume the battery_status topic and write the contents after some calculations into the system state. Instead, the calculations now happen in library calls in systemlib/battery. This moves the battery fields out of the vehicle_status message into the battery_status topic. This brought quite some changes in all modules that need battery information. The current state is compiling but untested.
128 lines
6.3 KiB
Plaintext
128 lines
6.3 KiB
Plaintext
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
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uint8 MAIN_STATE_MANUAL = 0
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uint8 MAIN_STATE_ALTCTL = 1
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uint8 MAIN_STATE_POSCTL = 2
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uint8 MAIN_STATE_AUTO_MISSION = 3
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uint8 MAIN_STATE_AUTO_LOITER = 4
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uint8 MAIN_STATE_AUTO_RTL = 5
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uint8 MAIN_STATE_ACRO = 6
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uint8 MAIN_STATE_OFFBOARD = 7
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uint8 MAIN_STATE_STAB = 8
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uint8 MAIN_STATE_RATTITUDE = 9
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uint8 MAIN_STATE_AUTO_TAKEOFF = 10
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uint8 MAIN_STATE_AUTO_LAND = 11
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uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
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uint8 MAIN_STATE_MAX = 13
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# If you change the order, add or remove arming_state_t states make sure to update the arrays
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# in state_machine_helper.cpp as well.
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uint8 ARMING_STATE_INIT = 0
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uint8 ARMING_STATE_STANDBY = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 ARMING_STATE_ARMED_ERROR = 3
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uint8 ARMING_STATE_STANDBY_ERROR = 4
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uint8 ARMING_STATE_REBOOT = 5
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uint8 ARMING_STATE_IN_AIR_RESTORE = 6
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uint8 ARMING_STATE_MAX = 7
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# Navigation state, i.e. "what should vehicle do".
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
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uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
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uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
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uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_MAX = 20
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uint8 RC_IN_MODE_DEFAULT = 0
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uint8 RC_IN_MODE_OFF = 1
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uint8 RC_IN_MODE_GENERATED = 2
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# state machine / state of vehicle.
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# Encodes the complete system state and is set by the commander app.
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uint16 counter # incremented by the writing thread everytime new data is stored
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uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
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uint8 main_state # main state machine
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uint8 main_state_prev # previous main state
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uint8 nav_state # set navigation state machine to specified value
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uint8 arming_state # current arming state
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uint8 hil_state # current hil state
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bool failsafe # true if system is in failsafe state
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bool calibration_enabled # true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint32 system_id # system id, contains MAVLink's system ID field
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uint32 component_id # subsystem / component id, contains MAVLink's component ID field
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bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
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bool is_vtol # True if the system is VTOL capable
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bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
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bool in_transition_mode # True if VTOL is doing a transition
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bool condition_system_in_air_restore # true if we can restore in mid air
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bool condition_system_sensors_initialized
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bool condition_system_prearm_error_reported # true if errors have already been reported
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bool condition_system_hotplug_timeout # true if the hotplug sensor search is over
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bool condition_system_returned_to_home
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bool condition_auto_mission_available
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bool condition_global_position_valid # set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
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bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
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bool condition_local_position_valid
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bool condition_local_altitude_valid
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bool condition_airspeed_valid # set to true by the commander app if there is a valid airspeed measurement available
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bool condition_landed # true if vehicle is landed, always true if disarmed
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bool condition_power_input_valid # set if input power is valid
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float32 avionics_power_rail_voltage # voltage of the avionics power rail
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bool usb_connected # status of the USB power supply
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bool rc_signal_found_once
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bool rc_signal_lost # true if RC reception lost
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uint64 rc_signal_lost_timestamp # Time at which the RC reception was lost
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bool rc_signal_lost_cmd # true if RC lost mode is commanded
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bool rc_input_blocked # set if RC input should be ignored temporarily
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uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
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bool data_link_lost # datalink to GCS lost
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bool data_link_lost_cmd # datalink to GCS lost mode commanded
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uint8 data_link_lost_counter # counts unique data link lost events
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bool engine_failure # Set to true if an engine failure is detected
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bool engine_failure_cmd # Set to true if an engine failure mode is commanded
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bool vtol_transition_failure # Set to true if vtol transition failed
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bool vtol_transition_failure_cmd # Set to true if vtol transition failure mode is commanded
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bool gps_failure # Set to true if a gps failure is detected
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bool gps_failure_cmd # Set to true if a gps failure mode is commanded
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bool mission_failure # Set to true if mission could not continue/finish
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bool barometer_failure # Set to true if a barometer failure is detected
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bool offboard_control_signal_found_once
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bool offboard_control_signal_lost
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bool offboard_control_signal_weak
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uint64 offboard_control_signal_lost_interval # interval in microseconds without an offboard control message
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bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC
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# see SYS_STATUS mavlink message for the following
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uint32 onboard_control_sensors_present
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uint32 onboard_control_sensors_enabled
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uint32 onboard_control_sensors_health
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float32 load # processor load from 0 to 1
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