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docs/en/msg_docs/ArmingCheckReply.md
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---
pageClass: is-wide-page
---
# ArmingCheckReply (UORB message)
Arming check reply
Arming check reply.
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -9,7 +13,54 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
**TOPICS:** arming_checkreply
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start. |
| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response |
| registration_id | `uint8` | | | Id of external component emitting this response |
| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) |
| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| can_arm_and_run | `bool` | | | True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed |
| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field |
| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) |
| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) |
| mode_req_attitude | `bool` | | | Requires an attitude estimate |
| mode_req_local_alt | `bool` | | | Requires a local altitude estimate |
| mode_req_local_position | `bool` | | | Requires a local position estimate |
| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate |
| mode_req_global_position | `bool` | | | Requires a global position estimate |
| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate |
| mode_req_mission | `bool` | | | Requires an uploaded mission |
| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) |
| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) |
| mode_req_manual_control | `bool` | | | Requires a manual controller |
## Enums
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
| Name | Type | Value | Description |
| ----------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
| Name | Type | Value | Description |
| ------------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
::: details Click here to see original file
```c
# Arming check reply
@@ -55,5 +106,6 @@ bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
bool mode_req_manual_control # Requires a manual controller
uint8 ORB_QUEUE_LENGTH = 4
```
:::