ConfigOverrides (UORB message)

Configuration overrides from external modes or mode executors.

An external mode or mode executor requests overrides on config_overrides_request, identifying itself with source_type and source_id. Commander stores them for that mode or executor and echoes the request on config_overrides_confirm as acknowledgement. Commander publishes the overrides in effect on config_overrides: those of the current mode, with those of the executor in charge applied on top.

TOPICS: config_overrides config_overrides_request config_overrides_confirm

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64	us		Time since system start
disable_auto_disarm	bool			Prevent the drone from automatically disarming after landing (if configured)
defer_failsafes	bool			Defer all deferrable failsafes (until the flag is cleared)
defer_failsafes_timeout_s	int16	s		Maximum time a failsafe can be deferred. 0 = system default. (Invalid: -1 No timeout)
disable_auto_set_home	bool			Prevent the drone from automatically setting the home position on arm or takeoff
source_type	int8		SOURCE_TYPE	Origin of this override
source_id	uint8			ID assigned at registration (RegisterExtComponentReply): mode_id for SOURCE_TYPE_MODE, mode_executor_id for SOURCE_TYPE_MODE_EXECUTOR

Enums

SOURCE_TYPE

Used in field(s): source_type

명칭	형식	Value	설명
SOURCE_TYPE_MODE	int8	0	Override originates from a mode
SOURCE_TYPE_MODE_EXECUTOR	int8	1	Override originates from a mode executor

Constants

명칭	형식	Value	설명
MESSAGE_VERSION	uint32	1
ORB_QUEUE_LENGTH	uint8	4

Source Message

Source file (GitHub)

Details

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# Configuration overrides from external modes or mode executors
#
# An external mode or mode executor requests overrides on config_overrides_request, identifying itself with source_type and source_id.
# Commander stores them for that mode or executor and echoes the request on config_overrides_confirm as acknowledgement.
# Commander publishes the overrides in effect on config_overrides: those of the current mode, with those of the executor in charge applied on top.

uint32 MESSAGE_VERSION = 1

uint64 timestamp # [us] Time since system start

bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured)

bool defer_failsafes # Defer all deferrable failsafes (until the flag is cleared)
int16 defer_failsafes_timeout_s # [s] [@invalid -1 No timeout] Maximum time a failsafe can be deferred. 0 = system default.
bool disable_auto_set_home # Prevent the drone from automatically setting the home position on arm or takeoff

int8 source_type # [@enum SOURCE_TYPE] Origin of this override
int8 SOURCE_TYPE_MODE = 0 # Override originates from a mode
int8 SOURCE_TYPE_MODE_EXECUTOR = 1 # Override originates from a mode executor

uint8 source_id # [-] ID assigned at registration (RegisterExtComponentReply): mode_id for SOURCE_TYPE_MODE, mode_executor_id for SOURCE_TYPE_MODE_EXECUTOR

uint8 ORB_QUEUE_LENGTH = 4

# TOPICS config_overrides config_overrides_request config_overrides_confirm