PositionControllerLandingStatus (UORB message)
TOPICS: position_controllerlanding_status
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | us | time since system start | |
| lateral_touchdown_offset | float32 | m | lateral touchdown position offset manually commanded during landing | |
| flaring | bool | true if the aircraft is flaring | ||
| abort_status | uint8 |
Constants
| Name | Type | Value | Description |
|---|---|---|---|
| NOT_ABORTED | uint8 | 0 | |
| ABORTED_BY_OPERATOR | uint8 | 1 | |
| TERRAIN_NOT_FOUND | uint8 | 2 | FW_LND_ABORT (1 << 0) |
| TERRAIN_TIMEOUT | uint8 | 3 | FW_LND_ABORT (1 << 1) |
| UNKNOWN_ABORT_CRITERION | uint8 | 4 |
Source Message
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c
uint64 timestamp # [us] time since system start
float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
bool flaring # true if the aircraft is flaring
# abort status is:
# 0 if not aborted
# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
uint8 abort_status
# abort reasons
# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
uint8 NOT_ABORTED = 0
uint8 ABORTED_BY_OPERATOR = 1
uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
uint8 UNKNOWN_ABORT_CRITERION = 4