From 7069190d307ca2efb02072eb438b6de3e485a034 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Wed, 18 Jun 2025 12:29:54 +1000 Subject: [PATCH] [Docs] ActionRequest UORB topic Co-authored-by: Matthias Grob --- msg/ActionRequest.msg | 39 ++++++++++++++++++++++----------------- 1 file changed, 22 insertions(+), 17 deletions(-) diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg index 2e0251797d..0d7dcb5856 100644 --- a/msg/ActionRequest.msg +++ b/msg/ActionRequest.msg @@ -1,20 +1,25 @@ -uint64 timestamp # time since system start (microseconds) +# Action request for the vehicle's main state +# +# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. +# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. -uint8 action # what action is requested -uint8 ACTION_DISARM = 0 -uint8 ACTION_ARM = 1 -uint8 ACTION_TOGGLE_ARMING = 2 -uint8 ACTION_UNKILL = 3 -uint8 ACTION_KILL = 4 -uint8 ACTION_SWITCH_MODE = 5 -uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 -uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 -uint8 ACTION_TERMINATE = 8 +uint64 timestamp # [us] Time since system start -uint8 source # how the request was triggered -uint8 SOURCE_STICK_GESTURE = 0 -uint8 SOURCE_RC_SWITCH = 1 -uint8 SOURCE_RC_BUTTON = 2 -uint8 SOURCE_RC_MODE_SLOT = 3 +uint8 action # [@enum ACTION] Requested action +uint8 ACTION_DISARM = 0 # Disarm vehicle +uint8 ACTION_ARM = 1 # Arm vehicle +uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming +uint8 ACTION_UNKILL = 3 # Revert a kill action +uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors) +uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field. +uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight +uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight +uint8 ACTION_TERMINATE = 8 # Flight termination (irreversible) -uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_* +uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture +uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position +uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position +uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held +uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism + +uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.