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634697946a
Switch to the high latency telemetry, if available, if every low latency link is lost. Switch back if any low latency link is regained. Only indicate that all links are lost if all high and low latency links are lost. Allow different timeouts for high and low latency links.
73 lines
3.4 KiB
Plaintext
73 lines
3.4 KiB
Plaintext
# 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_STANDBY_ERROR = 3
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uint8 ARMING_STATE_REBOOT = 4
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uint8 ARMING_STATE_IN_AIR_RESTORE = 5
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uint8 ARMING_STATE_MAX = 6
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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_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_MAX = 21
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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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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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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 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 in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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bool rc_signal_lost # true if RC reception lost
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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 high_latency_data_link_active # all low latency datalinks to GCS lost
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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 mission_failure # Set to true if mission could not continue/finish
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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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