px4-firmware/msg/commander_state.msg

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# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
uint64 timestamp # time since system start (microseconds)
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uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
# LEGACY RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
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uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
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uint8 MAIN_STATE_AUTO_PRECLAND = 13
uint8 MAIN_STATE_ORBIT = 14
uint8 MAIN_STATE_MAX = 15
uint8 main_state
uint16 main_state_changes