diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index c87e75fb69..8d4e27931b 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -40,19 +40,14 @@ set(msg_files ActionRequest.msg ActuatorArmed.msg ActuatorControlsStatus.msg - ActuatorMotors.msg ActuatorOutputs.msg - ActuatorServos.msg ActuatorServosTrim.msg ActuatorTest.msg AdcReport.msg Airspeed.msg AirspeedValidated.msg AirspeedWind.msg - ArmingCheckReply.msg - ArmingCheckRequest.msg AutotuneAttitudeControlStatus.msg - BatteryStatus.msg Buffer128.msg ButtonEvent.msg CameraCapture.msg @@ -61,7 +56,7 @@ set(msg_files CanInterfaceStatus.msg CellularStatus.msg CollisionConstraints.msg - ConfigOverrides.msg + CollisionReport.msg ControlAllocatorStatus.msg Cpuload.msg DatamanRequest.msg @@ -109,7 +104,6 @@ set(msg_files GimbalManagerSetAttitude.msg GimbalManagerSetManualControl.msg GimbalManagerStatus.msg - GotoSetpoint.msg GpioConfig.msg GpioIn.msg GpioOut.msg @@ -119,7 +113,6 @@ set(msg_files Gripper.msg HealthReport.msg HeaterStatus.msg - HomePosition.msg HoverThrustEstimate.msg InputRc.msg InternalCombustionEngineStatus.msg @@ -135,7 +128,6 @@ set(msg_files LogMessage.msg MagnetometerBiasEstimate.msg MagWorkerData.msg - ManualControlSetpoint.msg ManualControlSwitches.msg MavlinkLog.msg MavlinkTunnel.msg @@ -144,7 +136,6 @@ set(msg_files Mission.msg MissionResult.msg MountOrientation.msg - ModeCompleted.msg NavigatorMissionItem.msg NavigatorStatus.msg NormalizedUnsignedSetpoint.msg @@ -181,8 +172,6 @@ set(msg_files RateCtrlStatus.msg RcChannels.msg RcParameterMap.msg - RegisterExtComponentReply.msg - RegisterExtComponentRequest.msg RoverAckermannGuidanceStatus.msg RoverAckermannSetpoint.msg RoverAckermannStatus.msg @@ -223,7 +212,6 @@ set(msg_files TiltrotorExtraControls.msg TimesyncStatus.msg TrajectoryBezier.msg - TrajectorySetpoint.msg TrajectoryWaypoint.msg TransponderReport.msg TuneControl.msg @@ -231,39 +219,52 @@ set(msg_files UavcanParameterValue.msg UlogStream.msg UlogStreamAck.msg - UnregisterExtComponent.msg VehicleAcceleration.msg VehicleAirData.msg VehicleAngularAccelerationSetpoint.msg - VehicleAngularVelocity.msg - VehicleAttitude.msg - VehicleAttitudeSetpoint.msg - VehicleCommand.msg - VehicleCommandAck.msg VehicleConstraints.msg - VehicleControlMode.msg - VehicleGlobalPosition.msg VehicleImu.msg VehicleImuStatus.msg - VehicleLandDetected.msg - VehicleLocalPosition.msg VehicleLocalPositionSetpoint.msg VehicleMagnetometer.msg - VehicleOdometry.msg VehicleOpticalFlow.msg VehicleOpticalFlowVel.msg - VehicleRatesSetpoint.msg VehicleRoi.msg - VehicleStatus.msg VehicleThrustSetpoint.msg VehicleTorqueSetpoint.msg VehicleTrajectoryBezier.msg VehicleTrajectoryWaypoint.msg VelocityLimits.msg - VtolVehicleStatus.msg WheelEncoders.msg Wind.msg YawEstimatorStatus.msg + versioned/ActuatorMotors.msg + versioned/ActuatorServos.msg + versioned/ArmingCheckReply.msg + versioned/ArmingCheckRequest.msg + versioned/BatteryStatus.msg + versioned/ConfigOverrides.msg + versioned/GotoSetpoint.msg + versioned/HomePosition.msg + versioned/ManualControlSetpoint.msg + versioned/ModeCompleted.msg + versioned/RegisterExtComponentReply.msg + versioned/RegisterExtComponentRequest.msg + versioned/TrajectorySetpoint.msg + versioned/UnregisterExtComponent.msg + versioned/VehicleAngularVelocity.msg + versioned/VehicleAttitude.msg + versioned/VehicleAttitudeSetpoint.msg + versioned/VehicleCommandAck.msg + versioned/VehicleCommand.msg + versioned/VehicleControlMode.msg + versioned/VehicleGlobalPosition.msg + versioned/VehicleLandDetected.msg + versioned/VehicleLocalPosition.msg + versioned/VehicleOdometry.msg + versioned/VehicleRatesSetpoint.msg + versioned/VehicleStatus.msg + versioned/VtolVehicleStatus.msg ) list(SORT msg_files) @@ -315,7 +316,7 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py --headers -f ${msg_files} - -i ${CMAKE_CURRENT_SOURCE_DIR} + -i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned -o ${msg_out_path} -e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb DEPENDS @@ -336,7 +337,7 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py --json -f ${msg_files} - -i ${CMAKE_CURRENT_SOURCE_DIR} + -i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned -o ${msg_source_out_path} -e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb DEPENDS @@ -374,7 +375,7 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py --headers -f ${msg_files} - -i ${CMAKE_CURRENT_SOURCE_DIR} + -i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned -o ${ucdr_out_path} -e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr DEPENDS @@ -396,7 +397,7 @@ add_custom_command( COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py --sources -f ${msg_files} - -i ${CMAKE_CURRENT_SOURCE_DIR} + -i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned -o ${msg_source_out_path} -e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb DEPENDS @@ -447,7 +448,13 @@ if(CONFIG_LIB_CDRSTREAM) # Copy .msg files foreach(msg_file ${msg_files}) get_filename_component(msg ${msg_file} NAME_WE) - configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY) + get_filename_component(msg_directory ${msg_file} DIRECTORY) + get_filename_component(msg_directory ${msg_directory} NAME) + if(msg_directory STREQUAL "versioned") + configure_file(${PX4_SOURCE_DIR}/msg/${msg_directory}/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY) + else() + configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY) + endif() list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl) list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg) list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h) @@ -492,7 +499,7 @@ if(CONFIG_LIB_CDRSTREAM) COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py --uorb-idl-header -f ${msg_files} - -i ${CMAKE_CURRENT_SOURCE_DIR} + -i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned -o ${idl_uorb_path} -e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream DEPENDS diff --git a/msg/ActuatorMotors.msg b/msg/versioned/ActuatorMotors.msg similarity index 95% rename from msg/ActuatorMotors.msg rename to msg/versioned/ActuatorMotors.msg index e74566f1f7..da63a388bb 100644 --- a/msg/ActuatorMotors.msg +++ b/msg/versioned/ActuatorMotors.msg @@ -1,4 +1,7 @@ # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/msg/ActuatorServos.msg b/msg/versioned/ActuatorServos.msg similarity index 92% rename from msg/ActuatorServos.msg rename to msg/versioned/ActuatorServos.msg index 2c7900e811..e740f39c8c 100644 --- a/msg/ActuatorServos.msg +++ b/msg/versioned/ActuatorServos.msg @@ -1,4 +1,7 @@ # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/msg/ArmingCheckReply.msg b/msg/versioned/ArmingCheckReply.msg similarity index 96% rename from msg/ArmingCheckReply.msg rename to msg/versioned/ArmingCheckReply.msg index 589ad1b1cd..1a1aaa5183 100644 --- a/msg/ArmingCheckReply.msg +++ b/msg/versioned/ArmingCheckReply.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/msg/ArmingCheckRequest.msg b/msg/versioned/ArmingCheckRequest.msg similarity index 84% rename from msg/ArmingCheckRequest.msg rename to msg/versioned/ArmingCheckRequest.msg index 69e7e85f35..17c6e4bacd 100644 --- a/msg/ArmingCheckRequest.msg +++ b/msg/versioned/ArmingCheckRequest.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/msg/BatteryStatus.msg b/msg/versioned/BatteryStatus.msg similarity index 99% rename from msg/BatteryStatus.msg rename to msg/versioned/BatteryStatus.msg index e865161615..9838786f3f 100644 --- a/msg/BatteryStatus.msg +++ b/msg/versioned/BatteryStatus.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/msg/ConfigOverrides.msg b/msg/versioned/ConfigOverrides.msg similarity index 95% rename from msg/ConfigOverrides.msg rename to msg/versioned/ConfigOverrides.msg index 09b87253a8..b274adfbec 100644 --- a/msg/ConfigOverrides.msg +++ b/msg/versioned/ConfigOverrides.msg @@ -1,4 +1,7 @@ # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/msg/GotoSetpoint.msg b/msg/versioned/GotoSetpoint.msg similarity index 97% rename from msg/GotoSetpoint.msg rename to msg/versioned/GotoSetpoint.msg index 5fe3ab8a79..4871a3cb7d 100644 --- a/msg/GotoSetpoint.msg +++ b/msg/versioned/GotoSetpoint.msg @@ -5,6 +5,8 @@ # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/msg/HomePosition.msg b/msg/versioned/HomePosition.msg similarity index 96% rename from msg/HomePosition.msg rename to msg/versioned/HomePosition.msg index e6a517285f..a25bf24163 100644 --- a/msg/HomePosition.msg +++ b/msg/versioned/HomePosition.msg @@ -1,5 +1,7 @@ # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/msg/ManualControlSetpoint.msg b/msg/versioned/ManualControlSetpoint.msg similarity index 98% rename from msg/ManualControlSetpoint.msg rename to msg/versioned/ManualControlSetpoint.msg index 95fa622283..ddf902f00f 100644 --- a/msg/ManualControlSetpoint.msg +++ b/msg/versioned/ManualControlSetpoint.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/msg/ModeCompleted.msg b/msg/versioned/ModeCompleted.msg similarity index 94% rename from msg/ModeCompleted.msg rename to msg/versioned/ModeCompleted.msg index 0a20b0294e..1022df36d3 100644 --- a/msg/ModeCompleted.msg +++ b/msg/versioned/ModeCompleted.msg @@ -2,6 +2,9 @@ # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/msg/RegisterExtComponentReply.msg b/msg/versioned/RegisterExtComponentReply.msg similarity index 93% rename from msg/RegisterExtComponentReply.msg rename to msg/versioned/RegisterExtComponentReply.msg index 7cd7eef07b..4495bcdb90 100644 --- a/msg/RegisterExtComponentReply.msg +++ b/msg/versioned/RegisterExtComponentReply.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/msg/RegisterExtComponentRequest.msg b/msg/versioned/RegisterExtComponentRequest.msg similarity index 97% rename from msg/RegisterExtComponentRequest.msg rename to msg/versioned/RegisterExtComponentRequest.msg index 46ab0cb0a1..b0798705ca 100644 --- a/msg/RegisterExtComponentRequest.msg +++ b/msg/versioned/RegisterExtComponentRequest.msg @@ -1,4 +1,7 @@ # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/msg/TrajectorySetpoint.msg b/msg/versioned/TrajectorySetpoint.msg similarity index 95% rename from msg/TrajectorySetpoint.msg rename to msg/versioned/TrajectorySetpoint.msg index 4a88c86769..150be404b9 100644 --- a/msg/TrajectorySetpoint.msg +++ b/msg/versioned/TrajectorySetpoint.msg @@ -3,6 +3,8 @@ # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/msg/UnregisterExtComponent.msg b/msg/versioned/UnregisterExtComponent.msg similarity index 92% rename from msg/UnregisterExtComponent.msg rename to msg/versioned/UnregisterExtComponent.msg index 2ad78d4b68..8f85aaebfe 100644 --- a/msg/UnregisterExtComponent.msg +++ b/msg/versioned/UnregisterExtComponent.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/msg/VehicleAngularVelocity.msg b/msg/versioned/VehicleAngularVelocity.msg similarity index 94% rename from msg/VehicleAngularVelocity.msg rename to msg/versioned/VehicleAngularVelocity.msg index db3767c0aa..6c91f3c070 100644 --- a/msg/VehicleAngularVelocity.msg +++ b/msg/versioned/VehicleAngularVelocity.msg @@ -1,3 +1,4 @@ +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/msg/VehicleAttitude.msg b/msg/versioned/VehicleAttitude.msg similarity index 96% rename from msg/VehicleAttitude.msg rename to msg/versioned/VehicleAttitude.msg index 99e6f25c2e..fde3a85546 100644 --- a/msg/VehicleAttitude.msg +++ b/msg/versioned/VehicleAttitude.msg @@ -1,6 +1,8 @@ # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/msg/VehicleAttitudeSetpoint.msg b/msg/versioned/VehicleAttitudeSetpoint.msg similarity index 96% rename from msg/VehicleAttitudeSetpoint.msg rename to msg/versioned/VehicleAttitudeSetpoint.msg index 74a753023d..28aa780699 100644 --- a/msg/VehicleAttitudeSetpoint.msg +++ b/msg/versioned/VehicleAttitudeSetpoint.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/msg/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg similarity index 99% rename from msg/VehicleCommand.msg rename to msg/versioned/VehicleCommand.msg index 2970410a88..96162e9f89 100644 --- a/msg/VehicleCommand.msg +++ b/msg/versioned/VehicleCommand.msg @@ -1,6 +1,8 @@ # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/msg/VehicleCommandAck.msg b/msg/versioned/VehicleCommandAck.msg similarity index 98% rename from msg/VehicleCommandAck.msg rename to msg/versioned/VehicleCommandAck.msg index 6f54fa4631..c11a5f8c5d 100644 --- a/msg/VehicleCommandAck.msg +++ b/msg/versioned/VehicleCommandAck.msg @@ -2,6 +2,8 @@ # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/msg/VehicleControlMode.msg b/msg/versioned/VehicleControlMode.msg similarity index 97% rename from msg/VehicleControlMode.msg rename to msg/versioned/VehicleControlMode.msg index 9b33f9b8ca..0a1fdedfbf 100644 --- a/msg/VehicleControlMode.msg +++ b/msg/versioned/VehicleControlMode.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/msg/VehicleGlobalPosition.msg b/msg/versioned/VehicleGlobalPosition.msg similarity index 98% rename from msg/VehicleGlobalPosition.msg rename to msg/versioned/VehicleGlobalPosition.msg index 30aaf5652a..387576d8c7 100644 --- a/msg/VehicleGlobalPosition.msg +++ b/msg/versioned/VehicleGlobalPosition.msg @@ -5,6 +5,8 @@ # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/msg/VehicleLandDetected.msg b/msg/versioned/VehicleLandDetected.msg similarity index 96% rename from msg/VehicleLandDetected.msg rename to msg/versioned/VehicleLandDetected.msg index fc0ca4a6d8..1cbf545713 100644 --- a/msg/VehicleLandDetected.msg +++ b/msg/versioned/VehicleLandDetected.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/msg/VehicleLocalPosition.msg b/msg/versioned/VehicleLocalPosition.msg similarity index 99% rename from msg/VehicleLocalPosition.msg rename to msg/versioned/VehicleLocalPosition.msg index 0e74ac0f4b..aec6311ab3 100644 --- a/msg/VehicleLocalPosition.msg +++ b/msg/versioned/VehicleLocalPosition.msg @@ -1,6 +1,8 @@ # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/msg/VehicleOdometry.msg b/msg/versioned/VehicleOdometry.msg similarity index 97% rename from msg/VehicleOdometry.msg rename to msg/versioned/VehicleOdometry.msg index fbdd1920e1..f4d600d2b8 100644 --- a/msg/VehicleOdometry.msg +++ b/msg/versioned/VehicleOdometry.msg @@ -1,4 +1,7 @@ # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/msg/VehicleRatesSetpoint.msg b/msg/versioned/VehicleRatesSetpoint.msg similarity index 95% rename from msg/VehicleRatesSetpoint.msg rename to msg/versioned/VehicleRatesSetpoint.msg index 35a06c35aa..a4c169e412 100644 --- a/msg/VehicleRatesSetpoint.msg +++ b/msg/versioned/VehicleRatesSetpoint.msg @@ -1,3 +1,5 @@ +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/msg/VehicleStatus.msg b/msg/versioned/VehicleStatus.msg similarity index 99% rename from msg/VehicleStatus.msg rename to msg/versioned/VehicleStatus.msg index 6756da8129..a347dfce3d 100644 --- a/msg/VehicleStatus.msg +++ b/msg/versioned/VehicleStatus.msg @@ -1,5 +1,7 @@ # 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) diff --git a/msg/VtolVehicleStatus.msg b/msg/versioned/VtolVehicleStatus.msg similarity index 94% rename from msg/VtolVehicleStatus.msg rename to msg/versioned/VtolVehicleStatus.msg index 61a8246796..51beb30fa3 100644 --- a/msg/VtolVehicleStatus.msg +++ b/msg/versioned/VtolVehicleStatus.msg @@ -1,4 +1,7 @@ # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2