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To separate accuracy requirements for VTOL hover and cruise. - global_position_relaxed refers to having a valid horizontal velocity aid source in the estimator and a set global reference position, but poses no requirements on the accuracy of the provided position estimate. - Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode, only require the relaxed global position going forward - COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW) - rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
36 lines
833 B
Plaintext
36 lines
833 B
Plaintext
uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint8 request_id
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uint8 registration_id
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0
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uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
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bool health_component_is_present
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bool health_component_warning
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bool health_component_error
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bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
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uint8 num_events
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Event[5] events
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# Mode requirements
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bool mode_req_angular_velocity
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bool mode_req_attitude
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bool mode_req_local_alt
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bool mode_req_local_position
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bool mode_req_local_position_relaxed
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bool mode_req_global_position
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bool mode_req_global_position_relaxed
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bool mode_req_mission
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bool mode_req_home_position
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bool mode_req_prevent_arming
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bool mode_req_manual_control
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uint8 ORB_QUEUE_LENGTH = 4
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