PX4-Autopilot/docs/en/msg_docs/VehicleControlMode.md

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VehicleControlMode (UORB message)

Defines which controllers should run.

TOPICS: vehicle_control_mode

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
flag_armed	bool			synonym for actuator_armed.armed
flag_multicopter_position_control_enabled	bool
flag_control_manual_enabled	bool			true if manual input is mixed in
flag_control_auto_enabled	bool			true if onboard autopilot should act
flag_control_offboard_enabled	bool			true if offboard control should be used
flag_control_position_enabled	bool			true if position is controlled
flag_control_velocity_enabled	bool			true if horizontal velocity (implies direction) is controlled
flag_control_altitude_enabled	bool			true if altitude is controlled
flag_control_climb_rate_enabled	bool			true if climb rate is controlled
flag_control_attitude_enabled	bool			true if attitude stabilization is mixed in
flag_control_rates_enabled	bool			true if rates are stabilized
flag_control_allocation_enabled	bool			true if control allocation is enabled

Source Message

Source file (GitHub)

::: details Click here to see original file

# 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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