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

# VehicleStatus (UORB message)

Encodes the system state of the vehicle published by commander.

**TOPICS:** vehicle_status

## 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)                                                   |
| nav_state_display                | `uint8`  |              |            | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)         |
| 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                                                    |
| 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`   |              |            |
| traffic_avoidance_system_present | `bool`   |              |            |
| 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` | 3     |
| <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_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_LANDING"></a> ARM_DISARM_REASON_LANDING                       | `uint8`  | 6     |
| <a id="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8`  | 7     |
| <a id="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH               | `uint8`  | 8     |
| <a id="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON                   | `uint8`  | 13    |
| <a id="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE                     | `uint8`  | 14    |
| <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_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE         | `uint8`  | 8     | Altitude with Cruise mode                        |
| <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="#HIL_STATE_OFF"></a> HIL_STATE_OFF                                               | `uint8`  | 0     |
| <a id="#HIL_STATE_ON"></a> HIL_STATE_ON                                                 | `uint8`  | 1     |
| <a id="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED                         | `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="#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/versioned/VehicleStatus.msg)

::: details Click here to see original file

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

uint32 MESSAGE_VERSION = 3

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_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_LANDING = 6
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14

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_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
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)
uint8 nav_state_display                         # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)

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

uint8 hil_state
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1

# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3

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 traffic_avoidance_system_present

bool rc_calibration_in_progress
bool calibration_enabled

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

:::
