RtlStatus (UORB message)

TOPICS: rtl_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
safe_points_id	uint32			unique ID of active set of safe_point_items
is_evaluation_pending	bool			flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).
has_vtol_approach	bool			flag if approaches are defined for current RTL_TYPE parameter setting
rtl_type	uint8			Type of RTL chosen
safe_point_index	uint8			index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode

Constants

Name	Type	Value	Description
RTL_STATUS_TYPE_NONE	uint8	0	pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
RTL_STATUS_TYPE_DIRECT_SAFE_POINT	uint8	1	chosen to directly go to a safe point or home position
RTL_STATUS_TYPE_DIRECT_MISSION_LAND	uint8	2	going straight to the beginning of the mission landing
RTL_STATUS_TYPE_FOLLOW_MISSION	uint8	3	Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE	uint8	4	Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.

Source Message

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uint64 timestamp                      # time since system start (microseconds)

uint32 safe_points_id 		      # unique ID of active set of safe_point_items
bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).

bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

uint8 rtl_type	      		      # Type of RTL chosen
uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode

uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 	# going straight to the beginning of the mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 		# Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 	# Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.