PrecLandStatus (UORB message)

Precision-landing runtime status: a single state captures both whether precision landing is active and which phase it is in.

Published by: navigator (precland.cpp). Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).

STOPPED is published when the precision-landing task is not active (just inactivated, or never started). The phase values (START..FALLBACK) are only published while the task is running and not yet finished. DONE is published once on successful completion, then STOPPED on the subsequent inactivation.

TOPICS: prec_land_status

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
state	uint8		PREC_LAND_STATE	Current precision-landing state

Enums

PREC_LAND_STATE

Used in field(s): state

参数名	类型	值	描述
PREC_LAND_STATE_STOPPED	uint8	0	Task not active (inactivated or never started)
PREC_LAND_STATE_START	uint8	1	Task just activated, initial setup
PREC_LAND_STATE_HORIZONTAL	uint8	2	Positioning over landing target while maintaining altitude
PREC_LAND_STATE_DESCEND	uint8	3	Descending while staying over the target
PREC_LAND_STATE_FINAL	uint8	4	Final landing approach (continues even without target in sight)
PREC_LAND_STATE_SEARCH	uint8	5	Searching for the landing target
PREC_LAND_STATE_FALLBACK	uint8	6	Fallback landing method (no precision)
PREC_LAND_STATE_DONE	uint8	7	Precision landing finished

Source Message

Source file (GitHub)

Details

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# Precision-landing runtime status: a single state captures both whether precision landing is active and which phase it is in.
#
# Published by: navigator (precland.cpp).
# Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).
#
# STOPPED is published when the precision-landing task is not active (just inactivated, or never started).
# The phase values (START..FALLBACK) are only published while the task is running and not yet finished.
# DONE is published once on successful completion, then STOPPED on the subsequent inactivation.

uint64 timestamp # [us] Time since system start

uint8 state # [@enum PREC_LAND_STATE] Current precision-landing state
uint8 PREC_LAND_STATE_STOPPED = 0 # Task not active (inactivated or never started)
uint8 PREC_LAND_STATE_START = 1 # Task just activated, initial setup
uint8 PREC_LAND_STATE_HORIZONTAL = 2 # Positioning over landing target while maintaining altitude
uint8 PREC_LAND_STATE_DESCEND = 3 # Descending while staying over the target
uint8 PREC_LAND_STATE_FINAL = 4 # Final landing approach (continues even without target in sight)
uint8 PREC_LAND_STATE_SEARCH = 5 # Searching for the landing target
uint8 PREC_LAND_STATE_FALLBACK = 6   # Fallback landing method (no precision)
uint8 PREC_LAND_STATE_DONE = 7 # Precision landing finished