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

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DetectAndAvoidMostUrgent (UORB message)

Detect-and-avoid summary for the most urgent active conflict.

Aggregated DAA status from navigator's DetectAndAvoid component. It publishes the single active conflict that currently has the highest urgency after the per-traffic conflict buffer has been updated.

Unlike detect_and_avoid, this topic is not published for every processed traffic report and does not include the detailed horizontal and vertical geometry. It is the topic used for overall DAA status, automatic-action decisions, and prearm checks.

Published by: navigator (DetectAndAvoid) Used by: commander DAA arming checks, logging, and tests

TOPICS: detect_and_avoid_most_urgent

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
unique_id	uint64			Encoded identifier of the current most urgent traffic aircraft, selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
unique_id_encoding	uint8			Namespace used to decode unique_id
has_action	bool			True if the configured DAA response for this most urgent conflict is stronger than Warn only
conflict_level	uint8			Conflict level of the current most urgent active conflict
aircraft_dist	float32	m		Approximate 3D range to the most urgent traffic aircraft (9999 when empty)

Constants

Name	Type	Value	Description
UNIQUE_ID_ENCODING_ICAO	uint8	0	unique_id contains an ICAO address
UNIQUE_ID_ENCODING_ADSB_CALLSIGN	uint8	1	unique_id contains an ADS-B callsign packed into a uint64
UNIQUE_ID_ENCODING_UAS_ID	uint8	2	unique_id contains the reduced tail bytes of a UAS ID

Source Message

Source file (GitHub)

::: details Click here to see original file

# Detect-and-avoid summary for the most urgent active conflict.
#
# Aggregated DAA status from navigator's `DetectAndAvoid` component.
# It publishes the single active conflict that currently has the highest urgency
# after the per-traffic conflict buffer has been updated.
#
# Unlike `detect_and_avoid`, this topic is not published for every processed
# traffic report and does not include the detailed horizontal and vertical geometry.
# It is the topic used for overall DAA status, automatic-action decisions, and
# prearm checks.
#
# Published by: `navigator` (`DetectAndAvoid`)
# Used by: `commander` DAA arming checks, logging, and tests

uint8 UNIQUE_ID_ENCODING_ICAO = 0 # `unique_id` contains an ICAO address
uint8 UNIQUE_ID_ENCODING_ADSB_CALLSIGN = 1 # `unique_id` contains an ADS-B callsign packed into a `uint64`
uint8 UNIQUE_ID_ENCODING_UAS_ID = 2 # `unique_id` contains the reduced tail bytes of a UAS ID

uint64 timestamp # [us] Time since system start
uint64 unique_id # [-] Encoded identifier of the current most urgent traffic aircraft, selected in priority order: ICAO address, ADS-B callsign, then reduced UAS ID tail bytes
uint8 unique_id_encoding # [-] Namespace used to decode `unique_id`

bool has_action # [-] True if the configured DAA response for this most urgent conflict is stronger than Warn only
uint8 conflict_level # [-] Conflict level of the current most urgent active conflict
float32 aircraft_dist # [m] Approximate 3D range to the most urgent traffic aircraft (9999 when empty)

:::