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Co-Authored-By: PX4 BuildBot <bot@px4.io>
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2026-03-19 19:43:54 +00:00
parent 7d56582915
commit 65b1c818c5
5 changed files with 482 additions and 218 deletions
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docs/en/msg_docs/VehicleStatus.md
+2 -24
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@@ -25,7 +25,6 @@ Encodes the system state of the vehicle published by commander.
| 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 |
| failure_detector_status | `uint16` | | |
| hil_state | `uint8` | | |
| vehicle_type | `uint8` | | |
| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
@@ -58,7 +57,7 @@ Encodes the system state of the vehicle published by commander.
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 2 |
| <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 |
@@ -103,15 +102,6 @@ Encodes the system state of the vehicle published by commander.
| <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_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 |
@@ -131,7 +121,7 @@ Encodes the system state of the vehicle published by commander.
```c
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 2
uint32 MESSAGE_VERSION = 3
uint64 timestamp # time since system start (microseconds)
@@ -199,18 +189,6 @@ uint8 nav_state_display # User-visible nav state sent vi
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