VehicleLandDetected (UORB message)

TOPICS: vehicle_landdetected

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
freefall	bool			true if vehicle is currently in free-fall
ground_contact	bool			true if vehicle has ground contact but is not landed (1. stage)
maybe_landed	bool			true if the vehicle might have landed (2. stage)
landed	bool			true if vehicle is currently landed on the ground (3. stage)
in_ground_effect	bool			indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
in_descend	bool
has_low_throttle	bool
vertical_movement	bool
horizontal_movement	bool
rotational_movement	bool
close_to_ground_or_skipped_check	bool
at_rest	bool

Constants

명칭	형식	Value	설명
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

Details

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uint32 MESSAGE_VERSION = 0

uint64 timestamp	# time since system start (microseconds)

bool freefall		# true if vehicle is currently in free-fall
bool ground_contact	# true if vehicle has ground contact but is not landed (1. stage)
bool maybe_landed	# true if the vehicle might have landed (2. stage)
bool landed		# true if vehicle is currently landed on the ground (3. stage)

bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
bool in_descend

bool has_low_throttle

bool vertical_movement
bool horizontal_movement
bool rotational_movement

bool close_to_ground_or_skipped_check

bool at_rest