VehicleControlMode (UORB message)

TOPICS: vehicle_control_mode config_control_setpoints

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
flag_armed	bool			synonym for actuator_armed.armed
flag_multicopter_position_control_enabled	bool
flag_control_manual_enabled	bool			true if manual input is mixed in
flag_control_auto_enabled	bool			true if onboard autopilot should act
flag_control_offboard_enabled	bool			true if offboard control should be used
flag_control_position_enabled	bool			true if position is controlled
flag_control_velocity_enabled	bool			true if horizontal velocity (implies direction) is controlled
flag_control_altitude_enabled	bool			true if altitude is controlled
flag_control_climb_rate_enabled	bool			true if climb rate is controlled
flag_control_acceleration_enabled	bool			true if acceleration is controlled
flag_control_attitude_enabled	bool			true if attitude stabilization is mixed in
flag_control_rates_enabled	bool			true if rates are stabilized
flag_control_allocation_enabled	bool			true if control allocation is enabled
flag_control_termination_enabled	bool			true if flighttermination is enabled
source_id	uint8			Mode ID (nav_state)

Constants

参数名	类型	值	描述
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 flag_armed			# synonym for actuator_armed.armed

bool flag_multicopter_position_control_enabled

bool flag_control_manual_enabled		# true if manual input is mixed in
bool flag_control_auto_enabled			# true if onboard autopilot should act
bool flag_control_offboard_enabled		# true if offboard control should be used
bool flag_control_position_enabled		# true if position is controlled
bool flag_control_velocity_enabled		# true if horizontal velocity (implies direction) is controlled
bool flag_control_altitude_enabled		# true if altitude is controlled
bool flag_control_climb_rate_enabled		# true if climb rate is controlled
bool flag_control_acceleration_enabled		# true if acceleration is controlled
bool flag_control_attitude_enabled		# true if attitude stabilization is mixed in
bool flag_control_rates_enabled			# true if rates are stabilized
bool flag_control_allocation_enabled		# true if control allocation is enabled
bool flag_control_termination_enabled		# true if flighttermination is enabled

# TODO: use dedicated topic for external requests
uint8 source_id                  # Mode ID (nav_state)

# TOPICS vehicle_control_mode config_control_setpoints