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2026-02-11 22:43:01 +00:00
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docs/en/msg_docs/VehicleControlMode.md
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@@ -1,8 +1,43 @@
---
pageClass: is-wide-page
---
# VehicleControlMode (UORB message)
**TOPICS:** vehicle_control_mode config_control_setpoints
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg)
| 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_acceleration_enabled | `bool` | | | true if acceleration 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 |
| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled |
| source_id | `uint8` | | | Mode ID (nav_state) |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg)
::: details Click here to see original file
```c
uint32 MESSAGE_VERSION = 0
@@ -29,5 +64,6 @@ bool flag_control_termination_enabled # true if flighttermination is enabled
uint8 source_id # Mode ID (nav_state)
# TOPICS vehicle_control_mode config_control_setpoints
```
:::