ActionRequest (UORB message)

Action request for the vehicle's main state.

Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. Request are published by manual_control and subscribed by the commander and vtol_att_control modules.

TOPICS: action_request

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64	us		Time since system start
action	uint8		ACTION	Requested action
source	uint8		SOURCE	Request trigger type, such as a switch, button or gesture
mode	uint8			Requested mode. Only applies when action is ACTION_SWITCH_MODE. Values for this field are defined by the vehicle_status_s::NAVIGATION_STATE_* enumeration.

Enums

ACTION

명칭	형식	Value	설명
ACTION_DISARM	uint8	0	Disarm vehicle
ACTION_ARM	uint8	1	Arm vehicle
ACTION_TOGGLE_ARMING	uint8	2	Toggle arming
ACTION_UNKILL	uint8	3	Revert a kill action
ACTION_KILL	uint8	4	Kill vehicle (instantly stop the motors)
ACTION_SWITCH_MODE	uint8	5	Switch mode. The target mode is set in the mode field.
ACTION_VTOL_TRANSITION_TO_MULTICOPTER	uint8	6	Transition to hover flight
ACTION_VTOL_TRANSITION_TO_FIXEDWING	uint8	7	Transition to fast forward flight
ACTION_TERMINATION	uint8	8	Irreversibly output failsafe values on all outputs, trigger parachute

SOURCE

명칭	형식	Value	설명
SOURCE_STICK_GESTURE	uint8	0	Triggered by holding the sticks in a certain position
SOURCE_RC_SWITCH	uint8	1	Triggered by an RC switch moving into a certain position
SOURCE_RC_BUTTON	uint8	2	Triggered by a momentary button on the RC being pressed or held
SOURCE_RC_MODE_SLOT	uint8	3	Mode change through the RC mode selection mechanism

Source Message

Source file (GitHub)

Details

Click here to see original file

# Action request for the vehicle's main state
#
# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.

uint64 timestamp  # [us] Time since system start

uint8 action                                     # [@enum ACTION] Requested action
uint8 ACTION_DISARM = 0                          # Disarm vehicle
uint8 ACTION_ARM = 1                             # Arm vehicle
uint8 ACTION_TOGGLE_ARMING = 2                   # Toggle arming
uint8 ACTION_UNKILL = 3                          # Revert a kill action
uint8 ACTION_KILL = 4                            # Kill vehicle (instantly stop the motors)
uint8 ACTION_SWITCH_MODE = 5                     # Switch mode. The target mode is set in the `mode` field.
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6  # Transition to hover flight
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7    # Transition to fast forward flight
uint8 ACTION_TERMINATION = 8                     # Irreversibly output failsafe values on all outputs, trigger parachute

uint8 source                    # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
uint8 SOURCE_STICK_GESTURE = 0  # Triggered by holding the sticks in a certain position
uint8 SOURCE_RC_SWITCH = 1      # Triggered by an RC switch moving into a certain position
uint8 SOURCE_RC_BUTTON = 2      # Triggered by a momentary button on the RC being pressed or held
uint8 SOURCE_RC_MODE_SLOT = 3   # Mode change through the RC mode selection mechanism

uint8 mode  # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.