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# VehicleControlMode (UORB message)

Defines which controllers should run.

**TOPICS:** vehicle_control_mode

## Fields

| Name                                                                                                | Type     | Unit [Frame] | Range/Enum | Description                                                   |
| --------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp                                                                 | `uint64` |              |            | time since system start (microseconds)                        |
| <a id="fld_flag_armed"></a>flag_armed                                                               | `bool`   |              |            | synonym for actuator_armed.armed                              |
| <a id="fld_flag_multicopter_position_control_enabled"></a>flag_multicopter_position_control_enabled | `bool`   |              |            |
| <a id="fld_flag_control_manual_enabled"></a>flag_control_manual_enabled                             | `bool`   |              |            | true if manual input is mixed in                              |
| <a id="fld_flag_control_auto_enabled"></a>flag_control_auto_enabled                                 | `bool`   |              |            | true if onboard autopilot should act                          |
| <a id="fld_flag_control_offboard_enabled"></a>flag_control_offboard_enabled                         | `bool`   |              |            | true if offboard control should be used                       |
| <a id="fld_flag_control_position_enabled"></a>flag_control_position_enabled                         | `bool`   |              |            | true if position is controlled                                |
| <a id="fld_flag_control_velocity_enabled"></a>flag_control_velocity_enabled                         | `bool`   |              |            | true if horizontal velocity (implies direction) is controlled |
| <a id="fld_flag_control_altitude_enabled"></a>flag_control_altitude_enabled                         | `bool`   |              |            | true if altitude is controlled                                |
| <a id="fld_flag_control_climb_rate_enabled"></a>flag_control_climb_rate_enabled                     | `bool`   |              |            | true if climb rate is controlled                              |
| <a id="fld_flag_control_attitude_enabled"></a>flag_control_attitude_enabled                         | `bool`   |              |            | true if attitude stabilization is mixed in                    |
| <a id="fld_flag_control_rates_enabled"></a>flag_control_rates_enabled                               | `bool`   |              |            | true if rates are stabilized                                  |
| <a id="fld_flag_control_allocation_enabled"></a>flag_control_allocation_enabled                     | `bool`   |              |            | true if control allocation is enabled                         |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg)

::: details Click here to see original file

```c
# Defines which controllers should run

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_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
```

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