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RTL: publish a status message on currently chosen RTL point

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Konrad
2024-02-14 10:40:15 +01:00
committed by Silvan Fuhrer
parent 74303a79e1
commit 68100650da
6 changed files with 62 additions and 7 deletions
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msg/CMakeLists.txt
+1
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@@ -173,6 +173,7 @@ set(msg_files
RegisterExtComponentReply.msg
RegisterExtComponentRequest.msg
Rpm.msg
RtlStatus.msg
RtlTimeEstimate.msg
SatelliteInfo.msg
SensorAccel.msg
msg/RtlStatus.msg
+15
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@@ -0,0 +1,15 @@
uint64 timestamp # time since system start (microseconds)
uint32 safe_points_id # unique ID of active set of safe_point_items
bool is_evaluation_pending # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).
bool has_vtol_approach # flag if approaches are defined for current RTL_TYPE parameter setting
uint8 rtl_type # Type of RTL chosen
uint8 safe_point_index # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
uint8 RTL_STATUS_TYPE_NONE=0 # RTL type is pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # RTL type is chosen to directly go to a safe point or home position
uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # RTL type is going straight to the beginning of the mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # RTL type is following the mission from closest point to mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # RTL type is following the mission in reverse to the start position