forked from Archive/PX4-Autopilot
122 lines
5.2 KiB
Plaintext
122 lines
5.2 KiB
Plaintext
# Encodes the system state of the vehicle published by commander
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uint64 timestamp # time since system start (microseconds)
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uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint8 arming_state
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uint8 ARMING_STATE_INIT = 0
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uint8 ARMING_STATE_STANDBY = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 ARMING_STATE_STANDBY_ERROR = 3
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uint8 ARMING_STATE_SHUTDOWN = 4
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uint8 ARMING_STATE_IN_AIR_RESTORE = 5
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uint8 ARMING_STATE_MAX = 6
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uint8 latest_arming_reason
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uint8 latest_disarming_reason
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uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
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uint8 ARM_DISARM_REASON_RC_STICK = 1
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uint8 ARM_DISARM_REASON_RC_SWITCH = 2
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uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
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uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
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uint8 ARM_DISARM_REASON_MISSION_START = 5
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uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
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uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
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uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
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uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
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uint8 ARM_DISARM_REASON_LOCKDOWN = 10
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uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
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uint8 ARM_DISARM_REASON_SHUTDOWN = 12
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uint8 ARM_DISARM_REASON_UNIT_TEST = 13
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uint64 nav_state_timestamp # time when current nav_state activated
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# Navigation state "what should vehicle do"
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uint8 nav_state
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uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
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uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
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uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
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uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
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uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
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uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
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uint8 NAVIGATION_STATE_UNUSED3 = 8 # Free slot
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uint8 NAVIGATION_STATE_UNUSED = 9 # Free slot
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uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
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uint8 NAVIGATION_STATE_UNUSED1 = 11 # Free slot
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uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
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uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
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uint8 NAVIGATION_STATE_OFFBOARD = 14
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uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
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uint8 NAVIGATION_STATE_UNUSED2 = 16 # Free slot
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uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
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uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
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uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
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uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
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uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
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uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
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uint8 NAVIGATION_STATE_MAX = 23
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# Bitmask of detected failures
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uint16 failure_detector_status
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uint16 FAILURE_NONE = 0
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uint16 FAILURE_ROLL = 1 # (1 << 0)
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uint16 FAILURE_PITCH = 2 # (1 << 1)
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uint16 FAILURE_ALT = 4 # (1 << 2)
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uint16 FAILURE_EXT = 8 # (1 << 3)
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uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
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uint16 FAILURE_BATTERY = 32 # (1 << 5)
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uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
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uint16 FAILURE_MOTOR = 128 # (1 << 7)
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uint8 hil_state
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uint8 HIL_STATE_OFF = 0
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uint8 HIL_STATE_ON = 1
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# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
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uint8 vehicle_type
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uint8 VEHICLE_TYPE_UNKNOWN = 0
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uint8 VEHICLE_TYPE_ROTARY_WING = 1
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uint8 VEHICLE_TYPE_FIXED_WING = 2
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uint8 VEHICLE_TYPE_ROVER = 3
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uint8 VEHICLE_TYPE_AIRSHIP = 4
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bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
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uint64 failsafe_timestamp # time when failsafe was activated
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# Link loss
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bool rc_signal_lost # true if RC reception lost
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bool data_link_lost # datalink to GCS lost
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uint8 data_link_lost_counter # counts unique data link lost events
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bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
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# VTOL flags
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bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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bool mission_failure # Set to true if mission could not continue/finish
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bool geofence_violated
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# MAVLink identification
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uint8 system_type # system type, contains mavlink MAV_TYPE
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uint8 system_id # system id, contains MAVLink's system ID field
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uint8 component_id # subsystem / component id, contains MAVLink's component ID field
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bool safety_button_available # Set to true if a safety button is connected
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bool safety_off # Set to true if safety is off
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bool auto_mission_available
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bool power_input_valid # set if input power is valid
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bool usb_connected # set to true (never cleared) once telemetry received from usb link
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bool parachute_system_present
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bool parachute_system_healthy
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bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
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bool avoidance_system_valid # Status of the obstacle avoidance system
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