msg/vehicle_status_flags.msg

# This is a struct used by the commander internally.

uint64 timestamp				# time since system start (microseconds)

bool condition_calibration_enabled
bool condition_system_sensors_initialized
bool condition_system_hotplug_timeout		# true if the hotplug sensor search is over
bool condition_system_returned_to_home
bool condition_auto_mission_available
bool condition_angular_velocity_valid
bool condition_attitude_valid
bool condition_local_altitude_valid
bool condition_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
bool condition_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
bool condition_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
bool condition_home_position_valid		# indicates a valid home position (a valid home position is not always a valid launch)
bool condition_power_input_valid                # set if input power is valid
bool condition_battery_healthy                # set if battery is available and not low
bool condition_escs_error		      # set to true if one or more ESCs reporting esc_status are offline
bool condition_escs_failure		      # set to true if one or more ESCs reporting esc_status has a failure

bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_engaged_enginefailure_check
bool circuit_breaker_flight_termination_disabled
bool circuit_breaker_engaged_usb_check
bool circuit_breaker_engaged_posfailure_check	# set to true when the position valid checks have been disabled
bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in fixed-wing mode should be allowed

bool offboard_control_signal_found_once
bool offboard_control_signal_lost

bool rc_signal_found_once
bool rc_input_blocked                                # set if RC input should be ignored temporarily
bool rc_calibration_valid                            # set if RC calibration is valid
bool vtol_transition_failure                        # Set to true if vtol transition failed
bool usb_connected                                # status of the USB power supply
bool sd_card_detected_once                        # set to true if the SD card was detected

bool avoidance_system_required					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
bool avoidance_system_valid                       # Status of the obstacle avoidance system
commander log full status flags 2018-01-27 16:23:40 -05:00			`# This is a struct used by the commander internally.`
Add new message vehicle_status_flags for the commander status_flags 2017-01-27 19:00:39 +01:00
beautify some identation 2018-08-07 14:42:32 +01:00			`uint64 timestamp # time since system start (microseconds)`
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-07 01:30:05 +01:00
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool condition_calibration_enabled`
			`bool condition_system_sensors_initialized`
			`bool condition_system_hotplug_timeout # true if the hotplug sensor search is over`
			`bool condition_system_returned_to_home`
			`bool condition_auto_mission_available`
commander: vehicle_status_flags add attitude and angular velocity 2021-02-05 12:20:46 -05:00			`bool condition_angular_velocity_valid`
			`bool condition_attitude_valid`
			`bool condition_local_altitude_valid`
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool condition_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`
			`bool condition_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`
commander: vehicle_status_flags add attitude and angular velocity 2021-02-05 12:20:46 -05:00			`bool condition_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`
			`bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)`
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool condition_power_input_valid # set if input power is valid`
commander cleanup battery failsafe handling 2018-08-03 16:21:31 -04:00			`bool condition_battery_healthy # set if battery is available and not low`
Improved code comment for condition_escs_error topic. Signed-off-by: Claudio Micheli <claudio@auterion.com> 2019-08-07 14:23:02 +02:00			`bool condition_escs_error # set to true if one or more ESCs reporting esc_status are offline`
Commander/preflight checks: Add monitoring to ESC failures Signed-off-by: Claudio Micheli <claudio@auterion.com> 2021-01-31 22:01:53 +01:00			`bool condition_escs_failure # set to true if one or more ESCs reporting esc_status has a failure`
commander: vehicle_status_flags add attitude and angular velocity 2021-02-05 12:20:46 -05:00
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool circuit_breaker_engaged_power_check`
			`bool circuit_breaker_engaged_airspd_check`
			`bool circuit_breaker_engaged_enginefailure_check`
			`bool circuit_breaker_flight_termination_disabled`
			`bool circuit_breaker_engaged_usb_check`
			`bool circuit_breaker_engaged_posfailure_check # set to true when the position valid checks have been disabled`
pre arm check: add circuit breaker for the VTOL arming in fixed-wing mode prevention Added a new circuit breaker that, if set, enables arming in fixed-wing mode for VTOLs. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2020-01-27 10:48:01 +01:00			`bool circuit_breaker_vtol_fw_arming_check # set to true if for VTOLs arming in fixed-wing mode should be allowed`
Add new message vehicle_status_flags for the commander status_flags 2017-01-27 19:00:39 +01:00
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool offboard_control_signal_found_once`
			`bool offboard_control_signal_lost`
Add new message vehicle_status_flags for the commander status_flags 2017-01-27 19:00:39 +01:00
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool rc_signal_found_once`
			`bool rc_input_blocked # set if RC input should be ignored temporarily`
Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function. 2018-04-03 16:36:33 +02:00			`bool rc_calibration_valid # set if RC calibration is valid`
commander log full status flags 2018-01-27 16:23:40 -05:00			`bool vtol_transition_failure # Set to true if vtol transition failed`
			`bool usb_connected # status of the USB power supply`
PreFlightCheck: Check if SD card is present only once and store the result statfs accesses the file-system and can be blocking for an extended period. Since the SD card check is part of the preflight checks in the main thread of commander, it could block its execution and cause various issues. The SD card is only mounted in rcS during boot so the state will not change after the first check. 2021-03-29 13:20:06 +02:00			`bool sd_card_detected_once # set to true if the SD card was detected`
Added obstacle avoidance healthiness topic in vehicle status msg. This allows to perform pre-arm checks and prevent arming if obstacle avoidance is enabled but not yet running. Added a print once flag to prevent excessive message spamming in QGC. Signed-off-by: Claudio Micheli <claudio@auterion.com> 2019-02-13 16:04:22 +01:00
Commander: Improved logic for OA prearm checks. Signed-off-by: Claudio Micheli <claudio@auterion.com> 2019-03-12 14:02:20 +01:00			`bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter`
			`bool avoidance_system_valid # Status of the obstacle avoidance system`