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45 lines
1.8 KiB
Plaintext
45 lines
1.8 KiB
Plaintext
# TODO: rename to failsafe_flags (will be input to failsafe state machine)
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#
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uint64 timestamp # time since system start (microseconds)
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# Per-mode requirements
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uint32 mode_req_angular_velocity
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uint32 mode_req_attitude
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uint32 mode_req_local_position
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uint32 mode_req_global_position
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uint32 mode_req_local_alt
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uint32 mode_req_mission
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uint32 mode_req_offboard_signal
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uint32 mode_req_home_position
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uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
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uint32 mode_req_other # other requirements, not covered above (for external modes)
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bool calibration_enabled
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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bool auto_mission_available
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bool angular_velocity_valid
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bool attitude_valid
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bool local_altitude_valid
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bool local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation
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bool local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation
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bool global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation
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bool gps_position_valid
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bool home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
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bool escs_error # set to true if one or more ESCs reporting esc_status are offline
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bool escs_failure # set to true if one or more ESCs reporting esc_status has a failure
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bool position_reliant_on_gps
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bool position_reliant_on_optical_flow
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bool position_reliant_on_vision_position
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bool dead_reckoning
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bool offboard_control_signal_lost
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bool rc_signal_found_once
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bool rc_calibration_in_progress
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bool vtol_transition_failure # Set to true if vtol transition failed
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