ArmingCheckReplyV0 (UORB message)

TOPICS: arming_checkreplyv0

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
request_id	uint8
registration_id	uint8
health_component_index	uint8			HEALTH_COMPONENT_INDEX_*
health_component_is_present	bool
health_component_warning	bool
health_component_error	bool
can_arm_and_run	bool			whether arming is possible, and if it's a navigation mode, if it can run
num_events	uint8
events	EventV0[5]
mode_req_angular_velocity	bool
mode_req_attitude	bool
mode_req_local_alt	bool
mode_req_local_position	bool
mode_req_local_position_relaxed	bool
mode_req_global_position	bool
mode_req_mission	bool
mode_req_home_position	bool
mode_req_prevent_arming	bool
mode_req_manual_control	bool

Constants

参数名	类型	值	描述
MESSAGE_VERSION	uint32	0
HEALTH_COMPONENT_INDEX_NONE	uint8	0
ORB_QUEUE_LENGTH	uint8	4

Source Message

Source file (GitHub)

Details

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uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)

uint8 request_id
uint8 registration_id

uint8 HEALTH_COMPONENT_INDEX_NONE = 0

uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
bool health_component_is_present
bool health_component_warning
bool health_component_error

bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run

uint8 num_events

EventV0[5] events

# Mode requirements
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
bool mode_req_local_position_relaxed
bool mode_req_global_position
bool mode_req_mission
bool mode_req_home_position
bool mode_req_prevent_arming
bool mode_req_manual_control


uint8 ORB_QUEUE_LENGTH = 4