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commander: add valid_registrations_mask to ArmingCheckRequest.msg

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This allows external modes to individually check if they are flagged as
invalid/unresponsive.
Previously this was done only based on whether or not ArmingCheckRequest
was received, which does not work when multiple modes are running.
This commit is contained in:
Beat Küng
2025-08-26 14:38:05 +02:00
parent edfcdaa008
commit 6ec8dec63a
5 changed files with 63 additions and 1 deletions
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msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg
+14
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# Arming check request.
#
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
#
# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start.
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.