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6
docs/en/msg_docs/RegisterExtComponentRequest.md
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@@ -23,12 +23,13 @@ Request to register an external component.
| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* |
| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) |
| not_user_selectable | `bool` | | | mode cannot be selected by the user |
| request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 2 |
| <a id="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 |
@@ -41,7 +42,7 @@ Request to register an external component.
```c
# Request to register an external component
uint32 MESSAGE_VERSION = 1
uint32 MESSAGE_VERSION = 2
uint64 timestamp # time since system start (microseconds)
@@ -61,6 +62,7 @@ bool enable_replace_internal_mode # set to true if an internal mode should be r
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
bool not_user_selectable # mode cannot be selected by the user
bool request_offboard_setpoints # set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink
uint8 ORB_QUEUE_LENGTH = 2
```

68
docs/en/msg_docs/RegisterExtComponentRequestV1.md Normal file
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@@ -0,0 +1,68 @@
---
pageClass: is-wide-page
---
# RegisterExtComponentRequestV1 (UORB message)
Request to register an external component.
**TOPICS:** register_ext_component_request_v1
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_id | `uint64` | | | ID, set this to a random value |
| name | `char[25]` | | | either the requested mode name, or component name |
| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION |
| register_arming_check | `bool` | | |
| register_mode | `bool` | | | registering a mode also requires arming_check to be set |
| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) |
| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced |
| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* |
| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) |
| not_user_selectable | `bool` | | | mode cannot be selected by the user |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a id="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV1.msg)
::: details Click here to see original file
```c
# Request to register an external component
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID, set this to a random value
char[25] name # either the requested mode name, or component name
uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
# Components to be registered
bool register_arming_check
bool register_mode # registering a mode also requires arming_check to be set
bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2
```
:::

7
docs/en/msg_docs/VehicleStatus.md
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@@ -23,6 +23,7 @@ Encodes the system state of the vehicle published by commander.
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) |
| accepts_offboard_setpoints | `bool` | | | True if the current mode accepts offboard trajectory setpoints via MAVLink |
| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
| hil_state | `uint8` | | |
@@ -57,7 +58,7 @@ Encodes the system state of the vehicle published by commander.
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 3 |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 4 |
| <a id="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED | `uint8` | 1 |
| <a id="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED | `uint8` | 2 |
| <a id="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 |
@@ -121,7 +122,7 @@ Encodes the system state of the vehicle published by commander.
```c
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 3
uint32 MESSAGE_VERSION = 4
uint64 timestamp # time since system start (microseconds)
@@ -186,6 +187,8 @@ uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
bool accepts_offboard_setpoints # True if the current mode accepts offboard trajectory setpoints via MAVLink
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select

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docs/en/msg_docs/VehicleStatusV3.md Normal file
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@@ -0,0 +1,247 @@
---
pageClass: is-wide-page
---
# VehicleStatusV3 (UORB message)
Encodes the system state of the vehicle published by commander.
**TOPICS:** vehicle_status_v3
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| armed_time | `uint64` | | | Arming timestamp (microseconds) |
| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) |
| arming_state | `uint8` | | |
| latest_arming_reason | `uint8` | | |
| latest_disarming_reason | `uint8` | | |
| nav_state_timestamp | `uint64` | | | time when current nav_state activated |
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) |
| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
| hil_state | `uint8` | | |
| vehicle_type | `uint8` | | |
| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* |
| gcs_connection_lost | `bool` | | | datalink to GCS lost |
| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
| is_vtol | `bool` | | | True if the system is VTOL capable |
| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
| safety_button_available | `bool` | | | Set to true if a safety button is connected |
| safety_off | `bool` | | | Set to true if safety is off |
| power_input_valid | `bool` | | | set if input power is valid |
| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link |
| open_drone_id_system_present | `bool` | | |
| open_drone_id_system_healthy | `bool` | | |
| parachute_system_present | `bool` | | |
| parachute_system_healthy | `bool` | | |
| traffic_avoidance_system_present | `bool` | | |
| rc_calibration_in_progress | `bool` | | |
| calibration_enabled | `bool` | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 3 |
| <a id="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED | `uint8` | 1 |
| <a id="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED | `uint8` | 2 |
| <a id="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 |
| <a id="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 |
| <a id="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 |
| <a id="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 |
| <a id="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START | `uint8` | 5 |
| <a id="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING | `uint8` | 6 |
| <a id="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 |
| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 |
| <a id="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 |
| <a id="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 |
| <a id="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
| <a id="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
| <a id="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
| <a id="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
| <a id="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
| <a id="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
| <a id="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 |
| <a id="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5 | `uint8` | 7 |
| <a id="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
| <a id="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3 | `uint8` | 9 |
| <a id="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
| <a id="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2 | `uint8` | 11 |
| <a id="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
| <a id="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
| <a id="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD | `uint8` | 14 |
| <a id="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
| <a id="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1 | `uint8` | 16 |
| <a id="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
| <a id="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
| <a id="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
| <a id="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
| <a id="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
| <a id="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
| <a id="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 |
| <a id="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 |
| <a id="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 |
| <a id="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 |
| <a id="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 |
| <a id="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 |
| <a id="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 |
| <a id="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 |
| <a id="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX | `uint8` | 31 |
| <a id="#HIL_STATE_OFF"></a> HIL_STATE_OFF | `uint8` | 0 |
| <a id="#HIL_STATE_ON"></a> HIL_STATE_ON | `uint8` | 1 |
| <a id="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 |
| <a id="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 |
| <a id="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING | `uint8` | 2 |
| <a id="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER | `uint8` | 3 |
| <a id="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 |
| <a id="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 |
| <a id="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV3.msg)
::: details Click here to see original file
```c
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 3
uint64 timestamp # time since system start (microseconds)
uint64 armed_time # Arming timestamp (microseconds)
uint64 takeoff_time # Takeoff timestamp (microseconds)
uint8 arming_state
uint8 ARMING_STATE_DISARMED = 1
uint8 ARMING_STATE_ARMED = 2
uint8 latest_arming_reason
uint8 latest_disarming_reason
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
uint8 ARM_DISARM_REASON_MISSION_START = 5
uint8 ARM_DISARM_REASON_LANDING = 6
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14
uint64 nav_state_timestamp # time when current nav_state activated
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
uint8 nav_state # Currently active mode
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_FREE1 = 16
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
uint8 NAVIGATION_STATE_EXTERNAL4 = 26
uint8 NAVIGATION_STATE_EXTERNAL5 = 27
uint8 NAVIGATION_STATE_EXTERNAL6 = 28
uint8 NAVIGATION_STATE_EXTERNAL7 = 29
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
uint8 hil_state
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
# Link loss
bool gcs_connection_lost # datalink to GCS lost
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
# VTOL flags
bool is_vtol # True if the system is VTOL capable
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
bool in_transition_mode # True if VTOL is doing a transition
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
# MAVLink identification
uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
bool safety_button_available # Set to true if a safety button is connected
bool safety_off # Set to true if safety is off
bool power_input_valid # set if input power is valid
bool usb_connected # set to true (never cleared) once telemetry received from usb link
bool open_drone_id_system_present
bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
bool traffic_avoidance_system_present
bool rc_calibration_in_progress
bool calibration_enabled
bool pre_flight_checks_pass # true if all checks necessary to arm pass
```
:::

2
docs/en/msg_docs/index.md
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@@ -271,6 +271,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component.
- [RegisterExtComponentRequestV1](RegisterExtComponentRequestV1.md) — Request to register an external component.
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
@@ -278,3 +279,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV3](VehicleStatusV3.md) — Encodes the system state of the vehicle published by commander.