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# PrecLandStatus (UORB message)

Precision-landing runtime status: a single state captures both whether precision landing is active and which phase it is in.

Published by: navigator (precland.cpp).
Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).

STOPPED is published when the precision-landing task is not active (just inactivated, or never started).
The phase values (START..FALLBACK) are only published while the task is running and not yet finished.
DONE is published once on successful completion, then STOPPED on the subsequent inactivation.

**TOPICS:** prec_land_status

## Fields

| Name                                | Type     | Unit [Frame] | Range/Enum                          | Description                     |
| ----------------------------------- | -------- | ------------ | ----------------------------------- | ------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us           |                                     | Time since system start         |
| <a id="fld_state"></a>state         | `uint8`  |              | [PREC_LAND_STATE](#PREC_LAND_STATE) | Current precision-landing state |

## Enums

### PREC_LAND_STATE {#PREC_LAND_STATE}

Used in field(s): [state](#fld_state)

| Name                                                                | Type    | Value | Description                                                     |
| ------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
| <a id="#PREC_LAND_STATE_STOPPED"></a> PREC_LAND_STATE_STOPPED       | `uint8` | 0     | Task not active (inactivated or never started)                  |
| <a id="#PREC_LAND_STATE_START"></a> PREC_LAND_STATE_START           | `uint8` | 1     | Task just activated, initial setup                              |
| <a id="#PREC_LAND_STATE_HORIZONTAL"></a> PREC_LAND_STATE_HORIZONTAL | `uint8` | 2     | Positioning over landing target while maintaining altitude      |
| <a id="#PREC_LAND_STATE_DESCEND"></a> PREC_LAND_STATE_DESCEND       | `uint8` | 3     | Descending while staying over the target                        |
| <a id="#PREC_LAND_STATE_FINAL"></a> PREC_LAND_STATE_FINAL           | `uint8` | 4     | Final landing approach (continues even without target in sight) |
| <a id="#PREC_LAND_STATE_SEARCH"></a> PREC_LAND_STATE_SEARCH         | `uint8` | 5     | Searching for the landing target                                |
| <a id="#PREC_LAND_STATE_FALLBACK"></a> PREC_LAND_STATE_FALLBACK     | `uint8` | 6     | Fallback landing method (no precision)                          |
| <a id="#PREC_LAND_STATE_DONE"></a> PREC_LAND_STATE_DONE             | `uint8` | 7     | Precision landing finished                                      |

## Source Message

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

::: details Click here to see original file

```c
# Precision-landing runtime status: a single state captures both whether precision landing is active and which phase it is in.
#
# Published by: navigator (precland.cpp).
# Subscribed by: vision_target_estimator, flight_mode_manager (FlightTaskAuto).
#
# STOPPED is published when the precision-landing task is not active (just inactivated, or never started).
# The phase values (START..FALLBACK) are only published while the task is running and not yet finished.
# DONE is published once on successful completion, then STOPPED on the subsequent inactivation.

uint64 timestamp # [us] Time since system start

uint8 state # [@enum PREC_LAND_STATE] Current precision-landing state
uint8 PREC_LAND_STATE_STOPPED = 0 # Task not active (inactivated or never started)
uint8 PREC_LAND_STATE_START = 1 # Task just activated, initial setup
uint8 PREC_LAND_STATE_HORIZONTAL = 2 # Positioning over landing target while maintaining altitude
uint8 PREC_LAND_STATE_DESCEND = 3 # Descending while staying over the target
uint8 PREC_LAND_STATE_FINAL = 4 # Final landing approach (continues even without target in sight)
uint8 PREC_LAND_STATE_SEARCH = 5 # Searching for the landing target
uint8 PREC_LAND_STATE_FALLBACK = 6   # Fallback landing method (no precision)
uint8 PREC_LAND_STATE_DONE = 7 # Precision landing finished
```

:::