/****************************************************************************
*
* Copyright ( C ) 2012 PX4 Development Team . All rights reserved .
* Author : @ author Lorenz Meier < lm @ inf . ethz . ch >
* @ author Petri Tanskanen < petri . tanskanen @ inf . ethz . ch >
* @ author Thomas Gubler < thomasgubler @ student . ethz . ch >
* @ author Julian Oes < joes @ student . ethz . ch >
*
* Redistribution and use in source and binary forms , with or without
* modification , are permitted provided that the following conditions
* are met :
*
* 1. Redistributions of source code must retain the above copyright
* notice , this list of conditions and the following disclaimer .
* 2. Redistributions in binary form must reproduce the above copyright
* notice , this list of conditions and the following disclaimer in
* the documentation and / or other materials provided with the
* distribution .
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission .
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* " AS IS " AND ANY EXPRESS OR IMPLIED WARRANTIES , INCLUDING , BUT NOT
* LIMITED TO , THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED . IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT , INDIRECT ,
* INCIDENTAL , SPECIAL , EXEMPLARY , OR CONSEQUENTIAL DAMAGES ( INCLUDING ,
* BUT NOT LIMITED TO , PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES ; LOSS
* OF USE , DATA , OR PROFITS ; OR BUSINESS INTERRUPTION ) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY , WHETHER IN CONTRACT , STRICT
* LIABILITY , OR TORT ( INCLUDING NEGLIGENCE OR OTHERWISE ) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE , EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE .
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
/**
* @ file vehicle_status . h
* Definition of the vehicle_status uORB topic .
*
* Published the state machine and the system status bitfields
* ( see SYS_STATUS mavlink message ) , published only by commander app .
*
* All apps should write to subsystem_info :
*
* ( any app ) - - > subsystem_info ( published ) - - > ( commander app state machine ) - - > vehicle_status - - > ( mavlink app )
*/
# ifndef VEHICLE_STATUS_H_
# define VEHICLE_STATUS_H_
# include <stdint.h>
# include <stdbool.h>
# include "../uORB.h"
/**
* @ addtogroup topics @ {
*/
/* State Machine */
typedef enum
{
SYSTEM_STATE_PREFLIGHT = 0 ,
SYSTEM_STATE_STANDBY = 1 ,
SYSTEM_STATE_GROUND_READY = 2 ,
SYSTEM_STATE_MANUAL = 3 ,
SYSTEM_STATE_STABILIZED = 4 ,
SYSTEM_STATE_AUTO = 5 ,
SYSTEM_STATE_MISSION_ABORT = 6 ,
SYSTEM_STATE_EMCY_LANDING = 7 ,
SYSTEM_STATE_EMCY_CUTOFF = 8 ,
SYSTEM_STATE_GROUND_ERROR = 9 ,
SYSTEM_STATE_REBOOT = 10 ,
} commander_state_machine_t ;
enum VEHICLE_MODE_FLAG {
VEHICLE_MODE_FLAG_SAFETY_ARMED = 128 ,
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 ,
VEHICLE_MODE_FLAG_HIL_ENABLED = 32 ,
VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16 ,
VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8 ,
VEHICLE_MODE_FLAG_AUTO_ENABLED = 4 ,
VEHICLE_MODE_FLAG_TEST_ENABLED = 2 ,
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
} ; /**< Same as MAV_MODE_FLAG of MAVLink 1.0 protocol */
enum VEHICLE_FLIGHT_MODE {
VEHICLE_FLIGHT_MODE_MANUAL = 0 , /**< direct manual control, exact mode determined by VEHICLE_MANUAL_CONTROL_MODE */
VEHICLE_FLIGHT_MODE_STAB , /**< attitude or rate stabilization plus velocity or position stabilization */
VEHICLE_FLIGHT_MODE_HOLD , /**< hold current position (hover or loiter around position when switched) */
VEHICLE_FLIGHT_MODE_AUTO /**< attitude or rate stabilization plus absolute position control and waypoints */
} ;
enum VEHICLE_MANUAL_CONTROL_MODE {
VEHICLE_MANUAL_CONTROL_MODE_DIRECT = 0 , /**< no attitude control, direct stick input mixing (only fixed wing) */
VEHICLE_MANUAL_CONTROL_MODE_RATES , /**< body rates control mode */
VEHICLE_MANUAL_CONTROL_MODE_SAS /**< stability augmented system (SAS) mode */
} ;
enum VEHICLE_MANUAL_SAS_MODE {
VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS = 0 , /**< roll, pitch and yaw absolute */
VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE , /**< roll and pitch absolute, yaw rate */
VEHICLE_MANUAL_SAS_MODE_SIMPLE , /**< simple mode (includes altitude hold) */
VEHICLE_MANUAL_SAS_MODE_ALTITUDE /**< altitude hold */
} ;
/**
* Should match 1 : 1 MAVLink ' s MAV_TYPE ENUM
*/
enum VEHICLE_TYPE {
VEHICLE_TYPE_GENERIC = 0 , /* Generic micro air vehicle. | */
VEHICLE_TYPE_FIXED_WING = 1 , /* Fixed wing aircraft. | */
VEHICLE_TYPE_QUADROTOR = 2 , /* Quadrotor | */
VEHICLE_TYPE_COAXIAL = 3 , /* Coaxial helicopter | */
VEHICLE_TYPE_HELICOPTER = 4 , /* Normal helicopter with tail rotor. | */
VEHICLE_TYPE_ANTENNA_TRACKER = 5 , /* Ground installation | */
VEHICLE_TYPE_GCS = 6 , /* Operator control unit / ground control station | */
VEHICLE_TYPE_AIRSHIP = 7 , /* Airship, controlled | */
VEHICLE_TYPE_FREE_BALLOON = 8 , /* Free balloon, uncontrolled | */
VEHICLE_TYPE_ROCKET = 9 , /* Rocket | */
VEHICLE_TYPE_GROUND_ROVER = 10 , /* Ground rover | */
VEHICLE_TYPE_SURFACE_BOAT = 11 , /* Surface vessel, boat, ship | */
VEHICLE_TYPE_SUBMARINE = 12 , /* Submarine | */
VEHICLE_TYPE_HEXAROTOR = 13 , /* Hexarotor | */
VEHICLE_TYPE_OCTOROTOR = 14 , /* Octorotor | */
VEHICLE_TYPE_TRICOPTER = 15 , /* Octorotor | */
VEHICLE_TYPE_FLAPPING_WING = 16 , /* Flapping wing | */
VEHICLE_TYPE_KITE = 17 , /* Kite | */
VEHICLE_TYPE_ENUM_END = 18 , /* | */
} ;
enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_NONE = 0 , /**< no battery low voltage warning active */
VEHICLE_BATTERY_WARNING_WARNING , /**< warning of low voltage 1. stage */
VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */
} ;
/**
* state machine / state of vehicle .
*
* Encodes the complete system state and is set by the commander app .
*/
struct vehicle_status_s
{
/* use of a counter and timestamp recommended (but not necessary) */
uint16_t counter ; /**< incremented by the writing thread everytime new data is stored */
uint64_t timestamp ; /**< in microseconds since system start, is set whenever the writing thread stores new data */
uint64_t failsave_lowlevel_start_time ; /**< time when the lowlevel failsafe flag was set */
//uint64_t failsave_highlevel_begin; TO BE COMPLETED
commander_state_machine_t state_machine ; /**< current flight state, main state machine */
enum VEHICLE_FLIGHT_MODE flight_mode ; /**< current flight mode, as defined by mode switch */
enum VEHICLE_MANUAL_CONTROL_MODE manual_control_mode ; /**< current attitude control mode, as defined by VEHICLE_ATTITUDE_MODE enum */
enum VEHICLE_MANUAL_SAS_MODE manual_sas_mode ; /**< current stabilization mode */
int32_t system_type ; /**< system type, inspired by MAVLinks VEHICLE_TYPE enum */
/* system flags - these represent the state predicates */
bool flag_system_armed ; /**< true is motors / actuators are armed */
bool flag_control_manual_enabled ; /**< true if manual input is mixed in */
bool flag_control_offboard_enabled ; /**< true if offboard control input is on */
bool flag_hil_enabled ; /**< true if hardware in the loop simulation is enabled */
bool flag_control_rates_enabled ; /**< true if rates are stabilized */
bool flag_control_attitude_enabled ; /**< true if attitude stabilization is mixed in */
bool flag_control_velocity_enabled ; /**< true if speed (implies direction) is controlled */
bool flag_control_position_enabled ; /**< true if position is controlled */
bool flag_preflight_gyro_calibration ; /**< true if gyro calibration is requested */
bool flag_preflight_mag_calibration ; /**< true if mag calibration is requested */
bool flag_preflight_accel_calibration ;
bool rc_signal_found_once ;
bool rc_signal_lost ; /**< true if RC reception is terminally lost */
bool rc_signal_cutting_off ; /**< true if RC reception is weak / cutting off */
uint64_t rc_signal_lost_interval ; /**< interval in microseconds since when no RC signal is available */
bool offboard_control_signal_found_once ;
bool offboard_control_signal_lost ;
bool offboard_control_signal_weak ;
uint64_t offboard_control_signal_lost_interval ; /**< interval in microseconds without an offboard control message */
bool failsave_lowlevel ; /**< Set to true if low-level failsafe mode is enabled */
//bool failsave_highlevel;
/* see SYS_STATUS mavlink message for the following */
uint32_t onboard_control_sensors_present ;
uint32_t onboard_control_sensors_enabled ;
uint32_t onboard_control_sensors_health ;
float load ;
float voltage_battery ;
float current_battery ;
float battery_remaining ;
enum VEHICLE_BATTERY_WARNING battery_warning ; /**< current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum */
uint16_t drop_rate_comm ;
uint16_t errors_comm ;
uint16_t errors_count1 ;
uint16_t errors_count2 ;
uint16_t errors_count3 ;
uint16_t errors_count4 ;
bool flag_global_position_valid ; /**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
bool flag_local_position_valid ;
bool flag_vector_flight_mode_ok ; /**< position estimation, battery voltage and other critical subsystems are good for autonomous flight */
bool flag_auto_flight_mode_ok ; /**< conditions of vector flight mode apply plus a valid takeoff position lock has been aquired */
bool flag_external_manual_override_ok ; /**< external override non-fatal for system. Only true for fixed wing */
bool flag_valid_launch_position ; /**< indicates a valid launch position */
} ;
/**
* @ }
*/
/* register this as object request broker structure */
ORB_DECLARE ( vehicle_status ) ;
# endif
