ModeCompleted (повідомлення UORB)

Результат завершення режиму, опублікований активним режимом. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).

TOPICS: mode_completed

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
result	uint8			One of RESULT_*
nav_state	uint8			Source mode (values in VehicleStatus)

Constants

Назва	Тип	Значення	Опис
MESSAGE_VERSION	uint32	0
RESULT_SUCCESS	uint8	0
RESULT_FAILURE_OTHER	uint8	100	Mode failed (generic error)

Source Message

Source file (GitHub)

Details

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# Mode completion result, published by an active mode.
# The possible values of nav_state are defined in the VehicleStatus msg.
# Note that this is not always published (e.g. when a user switches modes or on
# failsafe activation)

uint32 MESSAGE_VERSION = 0

uint64 timestamp				 # time since system start (microseconds)


uint8 RESULT_SUCCESS = 0
# [1-99]: reserved
uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)

uint8 result                     # One of RESULT_*

uint8 nav_state                  # Source mode (values in VehicleStatus)