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vehicle_status.msg
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vehicle_status.msg
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# If you change the order, add or remove arming_state_t states make sure to update the arrays
# in state_machine_helper.cpp as well.
uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_ARMED_ERROR = 3
uint8 ARMING_STATE_STANDBY_ERROR = 4
uint8 ARMING_STATE_REBOOT = 5
uint8 ARMING_STATE_IN_AIR_RESTORE = 6
uint8 ARMING_STATE_MAX = 7
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
# Navigation state, i.e. "what should vehicle do".
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_UNUSED = 11 # Free slot
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_MAX = 20
uint8 RC_IN_MODE_DEFAULT = 0
uint8 RC_IN_MODE_OFF = 1
uint8 RC_IN_MODE_GENERATED = 2
# state machine / state of vehicle.
# Encodes the complete system state and is set by the commander app.
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
uint8 nav_state # set navigation state machine to specified value
uint8 arming_state # current arming state
uint8 hil_state # current hil state
bool failsafe # true if system is in failsafe state
uint8 system_type # system type, contains mavlink MAV_TYPE
uint32 system_id # system id, contains MAVLink's system ID field
uint32 component_id # subsystem / component id, contains MAVLink's component ID field
bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
bool is_vtol # True if the system is VTOL capable
bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
bool in_transition_mode # True if VTOL is doing a transition
bool rc_signal_lost # true if RC reception lost
uint8 rc_input_mode # set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
bool data_link_lost # datalink to GCS lost
uint8 data_link_lost_counter # counts unique data link lost events
bool engine_failure # Set to true if an engine failure is detected
bool engine_failure_cmd # Set to true if an engine failure mode is commanded
bool mission_failure # Set to true if mission could not continue/finish
# see SYS_STATUS mavlink message for the following
uint32 onboard_control_sensors_present
uint32 onboard_control_sensors_enabled
uint32 onboard_control_sensors_health
float32 load # processor load from 0 to 1