vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status

msg/vehicle_status.msg

@@ -85,10 +85,8 @@ uint8 VEHICLE_TYPE_AIRSHIP = 4
 
 bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
 bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
-uint64 failsafe_timestamp # time when failsafe was activated
 
 # Link loss
-bool rc_signal_lost              # true if RC reception lost
 bool data_link_lost              # datalink to GCS lost
 uint8 data_link_lost_counter     # counts unique data link lost events
 bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
@@ -99,7 +97,6 @@ bool is_vtol_tailsitter  # True if the system performs a 90° pitch down rotatio
 bool in_transition_mode  # True if VTOL is doing a transition
 bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
 
-
 # MAVLink identification
 uint8 system_type  # system type, contains mavlink MAV_TYPE
 uint8 system_id	   # system id, contains MAVLink's system ID field
@@ -107,7 +104,6 @@ uint8 component_id # subsystem / component id, contains MAVLink's component ID f
 
 bool safety_button_available # Set to true if a safety button is connected
 bool safety_off # Set to true if safety is off
-bool auto_mission_available
 
 bool power_input_valid                            # set if input power is valid
 bool usb_connected                                # set to true (never cleared) once telemetry received from usb link
@@ -120,3 +116,9 @@ bool parachute_system_healthy
 
 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
+
+bool rc_calibration_in_progress
+bool calibration_enabled
+
+bool pre_flight_checks_pass		# true if all checks necessary to arm pass
+

msg/vehicle_status_flags.msg

@@ -1,6 +1,5 @@
-# TODO: rename to failsafe_flags (will be input to failsafe state machine)
+# Input flags for the failsafe state machine set by the arming & health checks.
 #
-# Input flags for the failsafe state machine.
 # Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
 # The flag comments are used as label for the failsafe state machine simulation
 
@@ -9,10 +8,10 @@ uint64 timestamp				# time since system start (microseconds)
 # Per-mode requirements
 uint32 mode_req_angular_velocity
 uint32 mode_req_attitude
+uint32 mode_req_local_alt
 uint32 mode_req_local_position
 uint32 mode_req_local_position_relaxed
 uint32 mode_req_global_position
-uint32 mode_req_local_alt
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
@@ -20,39 +19,39 @@ uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
 uint32 mode_req_other             # other requirements, not covered above (for external modes)
 
 
-bool calibration_enabled
-bool pre_flight_checks_pass		# true if all checks necessary to arm pass
-bool auto_mission_available		# Mission available
-bool angular_velocity_valid 		# Angular velocity valid
-bool attitude_valid 			# Attitude valid
-bool local_altitude_valid               # Local altitude valid
-bool local_position_valid		# Local position estimate valid
-bool local_position_valid_relaxed	# Local position with reduced accuracy requirements (e.g. flying with optical flow)
-bool 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 global_position_valid		# Global position estimate valid
-bool gps_position_valid
-bool home_position_valid		# Home position valid
+# Mode requirements
+bool angular_velocity_invalid         # Angular velocity invalid
+bool attitude_invalid                 # Attitude invalid
+bool local_altitude_invalid           # Local altitude invalid
+bool local_position_invalid           # Local position estimate invalid
+bool local_position_invalid_relaxed   # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
+bool local_velocity_invalid           # Local velocity estimate invalid
+bool global_position_invalid          # Global position estimate invalid
+bool gps_position_invalid             # GPS position invalid
+bool auto_mission_missing             # No mission available
+bool offboard_control_signal_lost     # Offboard signal lost
+bool home_position_invalid            # No home position available
 
-bool offboard_control_signal_lost # Offboard signal lost
-bool geofence_violated 				# Geofence violated
+# Control links
+bool rc_signal_lost                   # RC signal lost
+bool data_link_lost                   # Data link lost
 
-bool rc_signal_lost # RC signal lost
-bool data_link_lost # Data link lost
-bool mission_failure # Mission failure
-bool rc_calibration_in_progress
-bool vtol_transition_failure                        # VTOL transition failed
+# Battery
+uint8 battery_warning                 # Battery warning level
+bool battery_low_remaining_time       # Low battery based on remaining flight time
+bool battery_unhealthy                # Battery unhealthy
 
-bool battery_low_remaining_time
-bool battery_unhealthy
+bool geofence_violated                # Geofence violated
+bool mission_failure                  # Mission failure
+bool vtol_transition_failure          # VTOL transition failed (quadchute)
 
-bool wind_limit_exceeded
-bool flight_time_limit_exceeded
+bool wind_limit_exceeded              # Wind limit exceeded
+bool flight_time_limit_exceeded       # Maximum flight time exceeded
 
-# failure detector
-bool fd_esc_arming_failure
-bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
-bool fd_imbalanced_prop # Imbalanced propeller detected
-bool fd_motor_failure
+# Failure detector
+bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)
+bool fd_esc_arming_failure            # ESC failed to arm
+bool fd_imbalanced_prop               # Imbalanced propeller detected
+bool fd_motor_failure                 # Motor failure
 
-uint8 battery_warning # Battery warning level