ModeCompleted (UORB message)
Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
TOPICS: mode_completed
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| result | uint8 | One of RESULT_* | ||
| nav_state | uint8 | Source mode (values in VehicleStatus) |
Constants
| Name | Type | Value | Description |
|---|---|---|---|
| MESSAGE_VERSION | uint32 | 0 | |
| RESULT_SUCCESS | uint8 | 0 | |
| RESULT_FAILURE_OTHER | uint8 | 100 | Mode failed (generic error) |
Source Message
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c
# Mode completion result, published by an active mode.
# The possible values of nav_state are defined in the VehicleStatus msg.
# Note that this is not always published (e.g. when a user switches modes or on
# failsafe activation)
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint8 RESULT_SUCCESS = 0
# [1-99]: reserved
uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
uint8 result # One of RESULT_*
uint8 nav_state # Source mode (values in VehicleStatus)