Main state machine / business logic. More...

#include "Commander.hpp"
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "Arming/ArmAuthorization/ArmAuthorization.h"
#include "Arming/HealthFlags/HealthFlags.h"
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"
#include "baro_calibration.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#include "gyro_calibration.h"
#include "mag_calibration.h"
#include "px4_custom_mode.h"
#include "rc_calibration.h"
#include "state_machine_helper.h"
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/shutdown.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <circuit_breaker/circuit_breaker.h>
#include <systemlib/mavlink_log.h>
#include <math.h>
#include <float.h>
#include <cstring>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/power_button_state.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/esc_status.h>

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Macros
#define	COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))

Typedefs
typedef enum VEHICLE_MODE_FLAG	VEHICLE_MODE_FLAG

Enumerations
enum	VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, VEHICLE_MODE_FLAG_TEST_ENABLED = 2, VEHICLE_MODE_FLAG_AUTO_ENABLED = 4, VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8, VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, VEHICLE_MODE_FLAG_HIL_ENABLED = 32, VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, VEHICLE_MODE_FLAG_ENUM_END = 129 }

Functions
__EXPORT int	commander_main (int argc, char *argv[])
	The daemon app only briefly exists to start the background job. More...

void	usage (const char *reason)
	Print the correct usage. More...

void	control_status_leds (vehicle_status_s status_local, const actuator_armed_s actuator_armed, bool changed, const uint8_t battery_warning, const cpuload_s *cpuload_local)

bool	stabilization_required ()

void	print_reject_mode (const char *msg)

void	print_reject_arm (const char *msg)

void	print_status ()

bool	shutdown_if_allowed ()

transition_result_t	arm_disarm (bool arm, bool run_preflight_checks, orb_advert_t mavlink_log_pub, const char armedBy)

void *	commander_low_prio_loop (void *arg)
	Loop that runs at a lower rate and priority for calibration and parameter tasks. More...

static void	answer_command (const vehicle_command_s &cmd, unsigned result, uORB::PublicationQueued< vehicle_command_ack_s > &command_ack_pub)

static int	power_button_state_notification_cb (board_power_button_state_notification_e request)

static bool	send_vehicle_command (uint16_t cmd, float param1=NAN, float param2=NAN)

Variables
static constexpr uint64_t	COMMANDER_MONITORING_INTERVAL = 10_ms

static constexpr float	STICK_ON_OFF_LIMIT = 0.9f

static constexpr uint64_t	OFFBOARD_TIMEOUT = 500_ms

static constexpr uint64_t	HOTPLUG_SENS_TIMEOUT = 8_s
	wait for hotplug sensors to come online for upto 8 seconds More...

static constexpr uint64_t	PRINT_MODE_REJECT_INTERVAL = 500_ms

static constexpr uint64_t	INAIR_RESTART_HOLDOFF_INTERVAL = 500_ms

static orb_advert_t	mavlink_log_pub = nullptr

static orb_advert_t	power_button_state_pub = nullptr

static volatile bool	thread_should_exit = false
	daemon exit flag More...

static volatile bool	thread_running = false
	daemon status flag More...

static hrt_abstime	commander_boot_timestamp = 0

static unsigned int	leds_counter

static uint64_t	last_print_mode_reject_time = 0

static float	min_stick_change = 0.25f

static struct vehicle_status_s	status = {}

static struct actuator_armed_s	armed = {}

static struct safety_s	safety = {}

static int32_t	_flight_mode_slots [manual_control_setpoint_s::MODE_SLOT_NUM]

static struct commander_state_s	internal_state = {}

static uint8_t	main_state_before_rtl = commander_state_s::MAIN_STATE_MAX

static manual_control_setpoint_s	sp_man = {}
	the current manual control setpoint More...

static manual_control_setpoint_s	_last_sp_man = {}
	the manual control setpoint valid at the last mode switch More...

static uint8_t	_last_sp_man_arm_switch = 0

static struct vtol_vehicle_status_s	vtol_status = {}

static struct cpuload_s	cpuload = {}

static bool	last_overload = false

static struct vehicle_status_flags_s	status_flags = {}

static uint64_t	rc_signal_lost_timestamp

static uint8_t	arm_requirements = PreFlightCheck::ARM_REQ_NONE

static bool	_last_condition_local_altitude_valid = false

static bool	_last_condition_local_position_valid = false

static bool	_last_condition_global_position_valid = false

static struct vehicle_land_detected_s	land_detector = {}

static float	_eph_threshold_adj
	maximum allowable horizontal position uncertainty after adjustment for flight condition More...

static bool	_skip_pos_accuracy_check = false

Detailed Description

Main state machine / business logic.

This application is currently in a rewrite process. Main changes:

Calibration routines are moved into the event system
Commander is rewritten as class
State machines will be model driven

Definition in file Commander.cpp.

Macro Definition Documentation

◆ COMMANDER_MONITORING_LOOPSPERMSEC

#define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))

Definition at line 113 of file Commander.cpp.

Referenced by Commander::run().

Typedef Documentation

◆ VEHICLE_MODE_FLAG

typedef enum VEHICLE_MODE_FLAG VEHICLE_MODE_FLAG

Enumeration Type Documentation

◆ VEHICLE_MODE_FLAG

enum VEHICLE_MODE_FLAG

Enumerator
VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED
VEHICLE_MODE_FLAG_TEST_ENABLED
VEHICLE_MODE_FLAG_AUTO_ENABLED
VEHICLE_MODE_FLAG_GUIDED_ENABLED
VEHICLE_MODE_FLAG_STABILIZE_ENABLED
VEHICLE_MODE_FLAG_HIL_ENABLED
VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED
VEHICLE_MODE_FLAG_SAFETY_ARMED
VEHICLE_MODE_FLAG_ENUM_END

Definition at line 99 of file Commander.cpp.

Function Documentation

◆ answer_command()

void answer_command	(	const vehicle_command_s &	cmd,
		unsigned	result,
		uORB::PublicationQueued< vehicle_command_ack_s > &	command_ack_pub
	)

static

Definition at line 3388 of file Commander.cpp.

References vehicle_command_s::command, hrt_absolute_time(), uORB::PublicationQueued< T >::publish(), vehicle_command_s::source_component, vehicle_command_s::source_system, vehicle_command_ack_s::timestamp, and tune_negative().

Referenced by commander_low_prio_loop(), and Commander::handle_command().

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◆ arm_disarm()

transition_result_t arm_disarm	(	bool	arm,
		bool	run_preflight_checks,
		orb_advert_t *	mavlink_log_pub,
		const char *	armedBy
	)

Definition at line 529 of file Commander.cpp.

References arm_requirements, arming_state_transition(), commander_boot_timestamp, hrt_elapsed_time(), mavlink_log_info, TRANSITION_CHANGED, TRANSITION_DENIED, TRANSITION_NOT_CHANGED, and tune_negative().

Referenced by commander_main(), Commander::handle_command(), and Commander::run().

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◆ commander_low_prio_loop()

void * commander_low_prio_loop ( void * arg )

Loop that runs at a lower rate and priority for calibration and parameter tasks.

Definition at line 3428 of file Commander.cpp.

Referenced by Commander::run().

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◆ commander_main()

int commander_main	(	int	argc,
		char *	argv[]
	)

The daemon app only briefly exists to start the background job.

The stack size assigned in the Makefile does only apply to this management task.

The actual stack size should be set in the call to task_create().

Definition at line 272 of file Commander.cpp.

References arm_disarm(), arm_requirements, vehicle_status_flags_s::condition_local_position_valid, do_accel_calibration(), do_airspeed_calibration(), do_esc_calibration(), do_gyro_calibration(), do_level_calibration(), do_mag_calibration(), f(), main(), main_state_transition(), mavlink_log_pub, OK, PreFlightCheck::preArmCheck(), Commander::preflight_check(), print_status(), send_vehicle_command(), thread_running, thread_should_exit, TRANSITION_CHANGED, TRANSITION_DENIED, usage(), and vehicle_status_s::vehicle_type.

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◆ control_status_leds()

void control_status_leds	(	vehicle_status_s *	status_local,
		const actuator_armed_s *	actuator_armed,
		bool	changed,
		const uint8_t	battery_warning,
		const cpuload_s *	cpuload_local
	)

Definition at line 2557 of file Commander.cpp.

References actuator_armed_s::armed, vehicle_status_s::arming_state, vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_home_position_valid, vehicle_status_flags_s::condition_system_hotplug_timeout, vehicle_status_flags_s::condition_system_sensors_initialized, vehicle_status_s::failsafe, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), last_overload, leds_counter, cpuload_s::load, cpuload_s::ram_usage, actuator_armed_s::ready_to_arm, and rgbled_set_color_and_mode().

Referenced by Commander::run().

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◆ power_button_state_notification_cb()

static int power_button_state_notification_cb ( board_power_button_state_notification_e request )

static

Definition at line 211 of file Commander.cpp.

References hrt_absolute_time(), ORB_ID, orb_publish(), power_button_state_pub, and power_button_state_s::timestamp.

Referenced by Commander::run().

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◆ print_reject_arm()

void print_reject_arm ( const char * msg )

Definition at line 3377 of file Commander.cpp.

References hrt_absolute_time(), hrt_abstime, last_print_mode_reject_time, mavlink_log_critical, mavlink_log_pub, PRINT_MODE_REJECT_INTERVAL, and tune_negative().

Referenced by Commander::run().

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◆ print_reject_mode()

void print_reject_mode ( const char * msg )

Definition at line 3362 of file Commander.cpp.

References actuator_armed_s::armed, hrt_absolute_time(), hrt_abstime, last_print_mode_reject_time, mavlink_log_critical, mavlink_log_pub, PRINT_MODE_REJECT_INTERVAL, and tune_negative().

Referenced by Commander::handle_command(), and Commander::set_main_state_rc().

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◆ print_status()

void print_status ( )

Definition at line 517 of file Commander.cpp.

References vehicle_status_s::arming_state, and arming_state_names.

Referenced by commander_main(), land_detector::LandDetector::custom_command(), and EstimatorInterface::get_baro_sample_delayed().

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◆ send_vehicle_command()

static bool send_vehicle_command	(	uint16_t	cmd,
		float	param1 = `NAN`,
		float	param2 = `NAN`
	)

static

Definition at line 251 of file Commander.cpp.

References vehicle_status_s::component_id, hrt_absolute_time(), ORB_ID, vehicle_status_s::system_id, and vehicle_command_s::timestamp.

Referenced by commander_main().

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◆ shutdown_if_allowed()

bool shutdown_if_allowed ( )

Definition at line 522 of file Commander.cpp.

References arm_requirements, arming_state_transition(), commander_boot_timestamp, hrt_elapsed_time(), mavlink_log_pub, and TRANSITION_DENIED.

Referenced by Commander::battery_status_check(), and Commander::run().

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◆ stabilization_required()

bool stabilization_required ( )

Definition at line 3352 of file Commander.cpp.

References vehicle_status_s::vehicle_type, VEHICLE_TYPE_FIXED_WING, vehicle_status_s::vtol_fw_permanent_stab, and vtol_vehicle_status_s::vtol_in_trans_mode.

Referenced by Commander::update_control_mode().

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◆ usage()

static __END_DECLS void usage ( const char * reason )

Print the correct usage.

Definition at line 4238 of file Commander.cpp.

Referenced by commander_main(), and px4flow::start().

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Variable Documentation

◆ _eph_threshold_adj

float _eph_threshold_adj

static

Initial value:

=

INFINITY

maximum allowable horizontal position uncertainty after adjustment for flight condition

Definition at line 167 of file Commander.cpp.

Referenced by Commander::estimator_check(), and Commander::reset_posvel_validity().

◆ _flight_mode_slots

int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_NUM]

static

Definition at line 141 of file Commander.cpp.

Referenced by Commander::run(), and Commander::set_main_state_rc().

◆ _last_condition_global_position_valid

bool _last_condition_global_position_valid = false

static

Definition at line 163 of file Commander.cpp.

Referenced by Commander::estimator_check(), Commander::run(), and Commander::set_main_state_rc().

◆ _last_condition_local_altitude_valid

bool _last_condition_local_altitude_valid = false

static

Definition at line 161 of file Commander.cpp.

Referenced by Commander::run(), and Commander::set_main_state_rc().

◆ _last_condition_local_position_valid

bool _last_condition_local_position_valid = false

static

Definition at line 162 of file Commander.cpp.

Referenced by Commander::run(), and Commander::set_main_state_rc().

◆ _last_sp_man

manual_control_setpoint_s _last_sp_man = {}

static

the manual control setpoint valid at the last mode switch

Definition at line 147 of file Commander.cpp.

◆ _last_sp_man_arm_switch

uint8_t _last_sp_man_arm_switch = 0

static

Definition at line 148 of file Commander.cpp.

Referenced by Commander::run().

◆ _skip_pos_accuracy_check

bool _skip_pos_accuracy_check = false

static

Definition at line 169 of file Commander.cpp.

Referenced by Commander::estimator_check(), and Commander::reset_posvel_validity().

◆ arm_requirements

uint8_t arm_requirements = PreFlightCheck::ARM_REQ_NONE

static

Definition at line 159 of file Commander.cpp.

Referenced by arm_disarm(), commander_low_prio_loop(), commander_main(), Commander::preflight_check(), Commander::run(), and shutdown_if_allowed().

◆ armed

struct actuator_armed_s armed = {}

static

Definition at line 139 of file Commander.cpp.

Referenced by Simulator::actuator_controls_from_outputs(), StateMachineHelperTest::armingStateTransitionTest(), SafetyButton::FlashButton(), Battery::full_cell_voltage(), Simulator::handle_message_hil_sensor(), PX4IO::io_set_arming_state(), AirspeedModule::Run(), UavcanServers::run(), UavcanNode::Run(), MavlinkStreamVFRHUD::send(), Takeoff::setSpoolupTime(), and px4::logger::Logger::start_stop_logging().

◆ commander_boot_timestamp

hrt_abstime commander_boot_timestamp = 0

static

Definition at line 130 of file Commander.cpp.

Referenced by arm_disarm(), commander_low_prio_loop(), Commander::handle_command(), Commander::preflight_check(), Commander::run(), and shutdown_if_allowed().

◆ COMMANDER_MONITORING_INTERVAL

constexpr uint64_t COMMANDER_MONITORING_INTERVAL = 10_ms

static

Definition at line 112 of file Commander.cpp.

Referenced by Commander::run().

◆ cpuload

struct cpuload_s cpuload = {}

static

Definition at line 151 of file Commander.cpp.

Referenced by load_mon::LoadMon::_cpuload(), events::status::StatusDisplay::check_for_updates(), load_mon::LoadMon::custom_command(), MavlinkStreamSysStatus::send(), and events::SubscriberHandler::subscribe().

◆ HOTPLUG_SENS_TIMEOUT

constexpr uint64_t HOTPLUG_SENS_TIMEOUT = 8_s

static

wait for hotplug sensors to come online for upto 8 seconds

Definition at line 118 of file Commander.cpp.

Referenced by Commander::run().

◆ INAIR_RESTART_HOLDOFF_INTERVAL

constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL = 500_ms

static

Definition at line 120 of file Commander.cpp.

Referenced by Commander::handle_command(), and Commander::run().

◆ internal_state

struct commander_state_s internal_state = {}

static

Definition at line 142 of file Commander.cpp.

◆ land_detector

struct vehicle_land_detected_s land_detector = {}

static

Definition at line 165 of file Commander.cpp.

◆ last_overload

bool last_overload = false

static

Definition at line 153 of file Commander.cpp.

Referenced by control_status_leds().

◆ last_print_mode_reject_time

uint64_t last_print_mode_reject_time = 0

static

Definition at line 134 of file Commander.cpp.

Referenced by print_reject_arm(), and print_reject_mode().

◆ leds_counter

unsigned int leds_counter

static

Definition at line 132 of file Commander.cpp.

Referenced by control_status_leds().

◆ main_state_before_rtl

uint8_t main_state_before_rtl = commander_state_s::MAIN_STATE_MAX

static

Definition at line 144 of file Commander.cpp.

Referenced by Commander::run().

◆ mavlink_log_pub

orb_advert_t mavlink_log_pub = nullptr

static

Definition at line 123 of file Commander.cpp.

Referenced by Commander::battery_status_check(), commander_low_prio_loop(), commander_main(), Commander::data_link_check(), Commander::esc_status_check(), Commander::estimator_check(), Commander::handle_command(), Commander::preflight_check(), print_reject_arm(), print_reject_mode(), Commander::run(), and shutdown_if_allowed().

◆ min_stick_change

float min_stick_change = 0.25f

static

Definition at line 136 of file Commander.cpp.

Referenced by Commander::run().

◆ OFFBOARD_TIMEOUT

constexpr uint64_t OFFBOARD_TIMEOUT = 500_ms

static

Definition at line 117 of file Commander.cpp.

Referenced by Commander::offboard_control_update().

◆ power_button_state_pub

orb_advert_t power_button_state_pub = nullptr

static

Definition at line 124 of file Commander.cpp.

Referenced by power_button_state_notification_cb(), and Commander::run().

◆ PRINT_MODE_REJECT_INTERVAL

constexpr uint64_t PRINT_MODE_REJECT_INTERVAL = 500_ms

static

Definition at line 119 of file Commander.cpp.

Referenced by print_reject_arm(), and print_reject_mode().

◆ rc_signal_lost_timestamp

uint64_t rc_signal_lost_timestamp

static

Definition at line 157 of file Commander.cpp.

Referenced by Commander::run().

◆ safety

struct safety_s safety = {}

static

Definition at line 140 of file Commander.cpp.

Referenced by PX4IO::io_handle_status(), SafetyButton::Run(), and BlinkM::Run().

◆ sp_man

manual_control_setpoint_s sp_man = {}

static

the current manual control setpoint

Definition at line 146 of file Commander.cpp.

Referenced by Commander::set_main_state_rc().

◆ status

struct vehicle_status_s status = {}

static

Definition at line 138 of file Commander.cpp.

Referenced by RM3100::check_measurement(), MEASAirspeed::collect(), LSM303AGR::collect(), LPS25H::collect(), BMM150::collect(), GPSDriverAshtech::configure(), PreFlightCheck::ekf2Check(), F_write_byte(), free_getprogmeminfo(), frsky_telemetry_thread_main(), Battery::full_cell_voltage(), Ekf::get_quat_reset(), uORB::FastRpcChannel::GetInstance(), MavlinkReceiver::handle_message_cellular_status(), MavlinkReceiver::handle_message_radio_status(), PX4IO::io_handle_status(), EstimatorInterface::isVehicleAtRest(), FXAS21002C::measure(), BMI088_accel::measure(), L3GD20::measure(), BMI160::measure(), LSM303D::measureAccelerometer(), LSM303D::measureMagnetometer(), MK::mk_servo_arm(), GPSDriverUBX::payloadRxDone(), pwmin_tim_isr(), IRLOCK::read_device_block(), IRLOCK::read_device_word(), MicroBenchORB::MicroBenchORB::reset(), Ekf2::Run(), FXOS8701CQ::Run(), ADIS16448::self_test(), MavlinkStreamSysStatus::send(), MavlinkStreamAttitudeQuaternion::send(), MavlinkStreamHILActuatorControls::send(), MavlinkStreamCameraCapture::send(), MavlinkStreamExtendedSysState::send(), uORB::KraitFastRpcChannel::send_message(), GPSDriverAshtech::sendSurveyInStatusUpdate(), RateControl::setFeedForwardGain(), BMP388::soft_reset(), StreamListItem::StreamListItem(), Mavlink::task_main(), TEST_F(), MicroBenchORB::MicroBenchORB::time_px4_uorb_direct(), TemperatureCalibrationCommon< 3, 3 >::update(), MavlinkStreamHighLatency2::update_vehicle_status(), and MicroBenchORB::ut_declare_test_c().

◆ status_flags

struct vehicle_status_flags_s status_flags = {}

static

Definition at line 155 of file Commander.cpp.

Referenced by Commander::run().

◆ STICK_ON_OFF_LIMIT

constexpr float STICK_ON_OFF_LIMIT = 0.9f

static

Definition at line 115 of file Commander.cpp.

Referenced by Commander::run().

◆ thread_running

volatile bool thread_running = false

static

daemon status flag

Definition at line 128 of file Commander.cpp.

Referenced by commander_main(), and Commander::run().

◆ thread_should_exit

volatile bool thread_should_exit = false

static

daemon exit flag

Definition at line 127 of file Commander.cpp.

Referenced by commander_low_prio_loop(), commander_main(), and Commander::run().

◆ vtol_status

struct vtol_vehicle_status_s vtol_status = {}

static

Definition at line 150 of file Commander.cpp.

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ COMMANDER_MONITORING_LOOPSPERMSEC

Typedef Documentation

◆ VEHICLE_MODE_FLAG

Enumeration Type Documentation

◆ VEHICLE_MODE_FLAG

Function Documentation

◆ answer_command()

◆ arm_disarm()

◆ commander_low_prio_loop()

◆ commander_main()

◆ control_status_leds()

◆ power_button_state_notification_cb()

◆ print_reject_arm()

◆ print_reject_mode()

◆ print_status()

◆ send_vehicle_command()

◆ shutdown_if_allowed()

◆ stabilization_required()

◆ usage()

Variable Documentation

◆ _eph_threshold_adj

◆ _flight_mode_slots

◆ _last_condition_global_position_valid

◆ _last_condition_local_altitude_valid

◆ _last_condition_local_position_valid

◆ _last_sp_man

◆ _last_sp_man_arm_switch

◆ _skip_pos_accuracy_check

◆ arm_requirements

◆ armed

◆ commander_boot_timestamp

◆ COMMANDER_MONITORING_INTERVAL

◆ cpuload

◆ HOTPLUG_SENS_TIMEOUT

◆ INAIR_RESTART_HOLDOFF_INTERVAL

◆ internal_state

◆ land_detector

◆ last_overload

◆ last_print_mode_reject_time

◆ leds_counter

◆ main_state_before_rtl

◆ mavlink_log_pub

◆ min_stick_change

◆ OFFBOARD_TIMEOUT

◆ power_button_state_pub

◆ PRINT_MODE_REJECT_INTERVAL

◆ rc_signal_lost_timestamp

◆ safety

◆ sp_man

◆ status

◆ status_flags

◆ STICK_ON_OFF_LIMIT

◆ thread_running

◆ thread_should_exit

◆ vtol_status