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MAV'RIC
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MAV'RIC
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Configuration structure. More...
#include <state.hpp>
Public Attributes | |
| Mav_mode | mav_mode |
| The value of the MAV mode (HIL and armed flags are ignored) | |
| mav_state_t | mav_state |
| The value of the MAV state. | |
| Mav_mode::custom_mode_t | mav_mode_custom |
| The value of the custom_mode. | |
| int32_t | simulation_mode |
| The value of the simulation_mode (0: real, 1: simulation) | |
| uint8_t | autopilot_type |
| The type of the autopilot (MAV_TYPE enum in common.h) | |
| uint8_t | autopilot_name |
| The name of the autopilot (MAV_AUTOPILOT enum in common.h) | |
| uint32_t | sensor_present |
| The type of sensors that are present on the autopilot (Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control) | |
| uint32_t | sensor_enabled |
| The sensors enabled on the autopilot (Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control) | |
| uint32_t | sensor_health |
| The health of sensors present on the autopilot (Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control) | |
| bool | out_of_safety_geofence |
| Flag to tell whether we are out the first fence or not. | |
| bool | out_of_emergency_geofence |
| Flag to tell whether we are out the second fence or not. | |
| bool | reset_position |
| Flag to enable the reset of the position estimation. | |
| double | last_heartbeat_msg |
| Time of reception of the last heartbeat message from the ground station. | |
| double | max_lost_connection |
| Maximum time without reception of a heartbeat message from the ground station. | |
| uint32_t | msg_count |
| Number of heartbeat message received from the Ground station. | |
| bool | connection_lost |
| Flag to tell if we have connection with the GND station or not. | |
| bool | first_connection_set |
| Flag to tell that we received a first message from the GND station. | |
Configuration structure.
TODO: clean
1.7.6.1
