ArmingCheckXxxx.msg - uorb docs

msg/versioned/ArmingCheckReply.msg

@@ -1,35 +1,43 @@
+# Arming check reply.
+#
+# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
+# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
+# The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
+#
+# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
+# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
+
 uint32 MESSAGE_VERSION = 1
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-uint8 request_id
-uint8 registration_id
+uint8 request_id # Id of ArmingCheckRequest for which this is a response.
+uint8 registration_id # Id of external component emitting this response.
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
 
-uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
-bool health_component_is_present
-bool health_component_warning
-bool health_component_error
+uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
+bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
 
-bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
 
-uint8 num_events
+uint8 num_events # Number of queued failure messages (Event) in the events field.
 
-Event[5] events
+Event[5] events # Arming failure reasons (Queue of events to report to GCS).
 
 # 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_global_position_relaxed
-bool mode_req_mission
-bool mode_req_home_position
-bool mode_req_prevent_arming
-bool mode_req_manual_control
+bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_attitude # Requires an attitude estimate.
+bool mode_req_local_alt # Requires a local altitude estimate.
+bool mode_req_local_position # Requires a local position estimate.
+bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
+bool mode_req_global_position # Requires a global position estimate.
+bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
+bool mode_req_mission # Requires an uploaded mission.
+bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
+bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
+bool mode_req_manual_control # Requires a manual controller
 
-
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 4 #

msg/versioned/ArmingCheckRequest.msg

@@ -1,7 +1,14 @@
+# Arming check request.
+#
+# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
+# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
+# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
+#
+# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
+# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
+
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp # time since system start (microseconds)
+uint64 timestamp # [us] Time since system start.
 
-# broadcast message to request all registered arming checks to be reported
-
-uint8 request_id
+uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.