VehicleControlMode (повідомлення UORB)
c
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