Supervisor subsystem #581
Open
Supervisor subsystem #581
+371
−0
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR fixes #530 and should be merged after the firmware PR #1560 is merged. It adds a supervisor subsystem for reading the supervisor states.
Specifically:
read_bitfield()returns the full bitfield value.read_state_list()returns a list of all active states.can_be_armed,is_armed,is_auto_armed,can_fly,is_flying,is_tumbled,is_locked,is_crashed,active_hl_control,finished_hl_traj,disabled_hl_controlEvery time we want to read a state, the entire bitfield is fetched. To avoid sending CRTP packets too frequently, the bitfield is cached for 0.1 seconds.
Also, 2 simple examples are added; 1 for reading the supervisor states and 1 for flying using the state information.