---
pageClass: is-wide-page
---

# VehicleStatusV0 (UORB message)

Encodes the system state of the vehicle published by commander.

**TOPICS:** vehicle_status_v0

## 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)                                                   |
| 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                                                    |
| failure_detector_status      | `uint16` |              |            |
| 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`   |              |            |
| avoidance_system_required    | `bool`   |              |            | Set to true if avoidance system is enabled via COM_OBS_AVOID parameter                          |
| avoidance_system_valid       | `bool`   |              |            | Status of the obstacle avoidance system                                                         |
| 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` | 0     |
| <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_TRANSITION_TO_STANDBY"></a> ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8`  | 0     |
| <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_SAFETY_BUTTON"></a> ARM_DISARM_REASON_SAFETY_BUTTON                 | `uint8`  | 6     |
| <a id="#ARM_DISARM_REASON_AUTO_DISARM_LAND"></a> ARM_DISARM_REASON_AUTO_DISARM_LAND           | `uint8`  | 7     |
| <a id="#ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT"></a> ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8`  | 8     |
| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH                     | `uint8`  | 9     |
| <a id="#ARM_DISARM_REASON_LOCKDOWN"></a> ARM_DISARM_REASON_LOCKDOWN                           | `uint8`  | 10    |
| <a id="#ARM_DISARM_REASON_FAILURE_DETECTOR"></a> ARM_DISARM_REASON_FAILURE_DETECTOR           | `uint8`  | 11    |
| <a id="#ARM_DISARM_REASON_SHUTDOWN"></a> ARM_DISARM_REASON_SHUTDOWN                           | `uint8`  | 12    |
| <a id="#ARM_DISARM_REASON_UNIT_TEST"></a> ARM_DISARM_REASON_UNIT_TEST                         | `uint8`  | 13    |
| <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_FREE4"></a> NAVIGATION_STATE_FREE4                                   | `uint8`  | 8     |
| <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="#FAILURE_NONE"></a> FAILURE_NONE                                                       | `uint16` | 0     |
| <a id="#FAILURE_ROLL"></a> FAILURE_ROLL                                                       | `uint16` | 1     | (1 << 0)                                         |
| <a id="#FAILURE_PITCH"></a> FAILURE_PITCH                                                     | `uint16` | 2     | (1 << 1)                                         |
| <a id="#FAILURE_ALT"></a> FAILURE_ALT                                                         | `uint16` | 4     | (1 << 2)                                         |
| <a id="#FAILURE_EXT"></a> FAILURE_EXT                                                         | `uint16` | 8     | (1 << 3)                                         |
| <a id="#FAILURE_ARM_ESC"></a> FAILURE_ARM_ESC                                                 | `uint16` | 16    | (1 << 4)                                         |
| <a id="#FAILURE_BATTERY"></a> FAILURE_BATTERY                                                 | `uint16` | 32    | (1 << 5)                                         |
| <a id="#FAILURE_IMBALANCED_PROP"></a> FAILURE_IMBALANCED_PROP                                 | `uint16` | 64    | (1 << 6)                                         |
| <a id="#FAILURE_MOTOR"></a> FAILURE_MOTOR                                                     | `uint16` | 128   | (1 << 7)                                         |
| <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_UNKNOWN"></a> VEHICLE_TYPE_UNKNOWN                                       | `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="#VEHICLE_TYPE_AIRSHIP"></a> VEHICLE_TYPE_AIRSHIP                                       | `uint8`  | 4     |
| <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/VehicleStatusV0.msg)

::: details Click here to see original file

```c
# Encodes the system state of the vehicle published by commander

uint32 MESSAGE_VERSION = 0

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_TRANSITION_TO_STANDBY = 0
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_SAFETY_BUTTON = 6
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
uint8 ARM_DISARM_REASON_UNIT_TEST = 13

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_FREE4 = 8
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)

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

# Bitmask of detected failures
uint16 failure_detector_status
uint16 FAILURE_NONE = 0
uint16 FAILURE_ROLL = 1              # (1 << 0)
uint16 FAILURE_PITCH = 2             # (1 << 1)
uint16 FAILURE_ALT = 4               # (1 << 2)
uint16 FAILURE_EXT = 8               # (1 << 3)
uint16 FAILURE_ARM_ESC = 16          # (1 << 4)
uint16 FAILURE_BATTERY = 32          # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64  # (1 << 6)
uint16 FAILURE_MOTOR = 128           # (1 << 7)

uint8 hil_state
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1

# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
uint8 vehicle_type
uint8 VEHICLE_TYPE_UNKNOWN = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3
uint8 VEHICLE_TYPE_AIRSHIP = 4

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 avoidance_system_required                    # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
bool avoidance_system_valid                       # Status of the obstacle avoidance system

bool rc_calibration_in_progress
bool calibration_enabled

bool pre_flight_checks_pass		# true if all checks necessary to arm pass
```

:::
