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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
83b832fdce
Case: A vehicle is already operating but has no stick input or another source than RC. When RC stick input is switched to either because it gets first time available or as a fallback to joystick then the mode was immediately changed to the switch position. This can lead to loss of control e.g. when the vehicle is flying far away and the mode switch of the RC is in some fully manual piloted mode. I added tests to cover the cases where RC mode initialization is expected and also unexpceted because the vehicle is already armed.
124 lines
5.4 KiB
Plaintext
124 lines
5.4 KiB
Plaintext
# Encodes the system state of the vehicle published by commander
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uint64 timestamp # time since system start (microseconds)
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uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint8 arming_state
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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_SHUTDOWN = 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 latest_arming_reason
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uint8 latest_disarming_reason
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uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
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uint8 ARM_DISARM_REASON_RC_STICK = 1
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uint8 ARM_DISARM_REASON_RC_SWITCH = 2
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uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
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uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
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uint8 ARM_DISARM_REASON_MISSION_START = 5
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uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
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uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
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uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
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uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
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uint8 ARM_DISARM_REASON_LOCKDOWN = 10
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uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
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uint8 ARM_DISARM_REASON_SHUTDOWN = 12
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uint8 ARM_DISARM_REASON_UNIT_TEST = 13
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uint64 nav_state_timestamp # time when current nav_state activated
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uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
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uint8 nav_state # Currently active mode
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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_UNUSED3 = 8 # Free slot
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uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_UNUSED1 = 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_UNUSED2 = 16 # Free slot
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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_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_MAX = 23
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
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uint8 vehicle_type
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uint8 VEHICLE_TYPE_UNKNOWN = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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uint8 VEHICLE_TYPE_ROVER = 3
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uint8 VEHICLE_TYPE_AIRSHIP = 4
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
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# Link loss
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bool gcs_connection_lost # datalink to GCS lost
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uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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# VTOL flags
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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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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# MAVLink identification
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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 safety_button_available # Set to true if a safety button is connected
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bool safety_off # Set to true if safety is off
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bool power_input_valid # set if input power is valid
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bool usb_connected # set to true (never cleared) once telemetry received from usb link
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bool open_drone_id_system_present
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bool open_drone_id_system_healthy
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bool parachute_system_present
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bool parachute_system_healthy
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bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
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bool avoidance_system_valid # Status of the obstacle avoidance system
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bool rc_calibration_in_progress
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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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