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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ebdc29bc5f
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic * add possibility to switch off the airspeed valid checks * remove airspeed valid checks from commander * clean up of VTOL transition logic * Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed. * Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical * add airspeed selector to px4_fmu-v2 defaults
97 lines
4.4 KiB
Plaintext
97 lines
4.4 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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uint64 timestamp # time since system start (microseconds)
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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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# FailureDetector status
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uint8 FAILURE_NONE = 0
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uint8 FAILURE_ROLL = 1 # (1 << 0)
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uint8 FAILURE_PITCH = 2 # (1 << 1)
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uint8 FAILURE_ALT = 4 # (1 << 2)
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# HIL
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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_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_MAX = 22
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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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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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# 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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uint64 nav_state_timestamp # time when current nav_state activated
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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 (e.g.:RTL, Hover, Terminate, ...)
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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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uint8 vehicle_type # Type of vehicle (fixed-wing, rotary wing, ground)
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# If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
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# and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
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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 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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uint8 data_link_lost_counter # counts unique data link 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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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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uint8 failure_detector_status # Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
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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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