VehicleControlMode (UORB message)

source file

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