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32 lines
1.1 KiB
32 lines
1.1 KiB
9 years ago
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# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
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uint8 MAIN_STATE_MANUAL = 0
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uint8 MAIN_STATE_ALTCTL = 1
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uint8 MAIN_STATE_POSCTL = 2
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uint8 MAIN_STATE_AUTO_MISSION = 3
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uint8 MAIN_STATE_AUTO_LOITER = 4
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uint8 MAIN_STATE_AUTO_RTL = 5
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uint8 MAIN_STATE_ACRO = 6
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uint8 MAIN_STATE_OFFBOARD = 7
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uint8 MAIN_STATE_STAB = 8
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uint8 MAIN_STATE_RATTITUDE = 9
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uint8 MAIN_STATE_AUTO_TAKEOFF = 10
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uint8 MAIN_STATE_AUTO_LAND = 11
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uint8 MAIN_STATE_MAX = 12
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# 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_ARMED_ERROR = 3
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uint8 ARMING_STATE_STANDBY_ERROR = 4
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uint8 ARMING_STATE_REBOOT = 5
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uint8 ARMING_STATE_IN_AIR_RESTORE = 6
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uint8 ARMING_STATE_MAX = 7
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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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uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
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uint8 main_state # main state machine
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