PrecTakeoffStatus (UORB message)

Precision takeoff status.

Published by: navigator (prec_takeoff.cpp). Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).

ONGOING while a vertical takeoff setpoint is active and MIS_TKO_PREC is set. DONE is published when the takeoff altitude is reached, then STOPPED once the takeoff is no longer active. Published every Navigator cycle.

TOPICS: prec_takeoff_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
state	uint8		PREC_TAKEOFF_STATE	Current precision-takeoff state
setpoint_adjusted	bool			True after a valid target adjusted the horizontal setpoint

Enums

PREC_TAKEOFF_STATE

Used in field(s): state

Name	Type	Value	Description
PREC_TAKEOFF_STATE_STOPPED	uint8	0	Not active
PREC_TAKEOFF_STATE_ONGOING	uint8	1	Takeoff active; the estimator may still be acquiring the target
PREC_TAKEOFF_STATE_DONE	uint8	2	Takeoff altitude reached

Source Message

Source file (GitHub)

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# Precision takeoff status.
#
# Published by: navigator (prec_takeoff.cpp).
# Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).
#
# ONGOING while a vertical takeoff setpoint is active and MIS_TKO_PREC is set. DONE is published when the
# takeoff altitude is reached, then STOPPED once the takeoff is no longer active. Published every Navigator cycle.

uint64 timestamp # [us] Time since system start

uint8 state # [@enum PREC_TAKEOFF_STATE] Current precision-takeoff state
bool setpoint_adjusted # True after a valid target adjusted the horizontal setpoint
uint8 PREC_TAKEOFF_STATE_STOPPED = 0 # Not active
uint8 PREC_TAKEOFF_STATE_ONGOING = 1 # Takeoff active; the estimator may still be acquiring the target
uint8 PREC_TAKEOFF_STATE_DONE = 2 # Takeoff altitude reached