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19
docs/en/advanced_config/parameter_reference.md
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@ -16365,6 +16365,25 @@ Arm switch is a momentary button.
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) |
### COM_ARM_TRAFF (`INT32`) {#COM_ARM_TRAFF}
Enable Traffic Avoidance system detection check.
This check detects if a traffic avoidance system (ADSB/FLARM transponder)
is missing. Depending on the value of the parameter, the check can be
disabled, warn only, or deny arming.
**Values:**
- `0`: Disabled
- `1`: Warning only
- `2`: Enforce for all modes
- `3`: Enforce for mission modes only
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS}
Arming without GNSS configuration.

381
docs/en/middleware/dds_topics.md
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@ -94,199 +94,200 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [Ping](../msg_docs/Ping.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [LedControl](../msg_docs/LedControl.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [InputRc](../msg_docs/InputRc.md)
- [Rpm](../msg_docs/Rpm.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [EventV0](../msg_docs/EventV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [Mission](../msg_docs/Mission.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [Event](../msg_docs/Event.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [Mission](../msg_docs/Mission.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [Event](../msg_docs/Event.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [Rpm](../msg_docs/Rpm.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [Vtx](../msg_docs/Vtx.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [EventV0](../msg_docs/EventV0.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LedControl](../msg_docs/LedControl.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
:::

2
docs/en/msg_docs/TelemetryStatus.md
View File

@ -36,6 +36,7 @@ pageClass: is-wide-page
| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER |
| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL |
| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB |
| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM |
| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA |
| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE |
| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID |
@ -112,6 +113,7 @@ bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
bool heartbeat_type_flarm # MAV_TYPE_FLARM
bool heartbeat_type_camera # MAV_TYPE_CAMERA
bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
bool heartbeat_type_open_drone_id # MAV_TYPE_ODID

91
docs/en/msg_docs/VehicleStatus.md
View File

@ -10,53 +10,55 @@ Encodes the system state of the vehicle published by commander.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| armed_time | `uint64` | | | Arming timestamp (microseconds) |
| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) |
| arming_state | `uint8` | | |
| latest_arming_reason | `uint8` | | |
| latest_disarming_reason | `uint8` | | |
| nav_state_timestamp | `uint64` | | | time when current nav_state activated |
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
| 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, ...) |
| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* |
| gcs_connection_lost | `bool` | | | datalink to GCS lost |
| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
| is_vtol | `bool` | | | True if the system is VTOL capable |
| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
| safety_button_available | `bool` | | | Set to true if a safety button is connected |
| safety_off | `bool` | | | Set to true if safety is off |
| power_input_valid | `bool` | | | set if input power is valid |
| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link |
| open_drone_id_system_present | `bool` | | |
| open_drone_id_system_healthy | `bool` | | |
| parachute_system_present | `bool` | | |
| parachute_system_healthy | `bool` | | |
| rc_calibration_in_progress | `bool` | | |
| calibration_enabled | `bool` | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| armed_time | `uint64` | | | Arming timestamp (microseconds) |
| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) |
| arming_state | `uint8` | | |
| latest_arming_reason | `uint8` | | |
| latest_disarming_reason | `uint8` | | |
| nav_state_timestamp | `uint64` | | | time when current nav_state activated |
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
| 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, ...) |
| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* |
| gcs_connection_lost | `bool` | | | datalink to GCS lost |
| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
| is_vtol | `bool` | | | True if the system is VTOL capable |
| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
| safety_button_available | `bool` | | | Set to true if a safety button is connected |
| safety_off | `bool` | | | Set to true if safety is off |
| power_input_valid | `bool` | | | set if input power is valid |
| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link |
| open_drone_id_system_present | `bool` | | |
| open_drone_id_system_healthy | `bool` | | |
| parachute_system_present | `bool` | | |
| parachute_system_healthy | `bool` | | |
| traffic_avoidance_system_present | `bool` | | |
| rc_calibration_in_progress | `bool` | | |
| calibration_enabled | `bool` | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 2 |
| <a href="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED | `uint8` | 1 |
| <a href="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED | `uint8` | 2 |
| <a href="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 |
@ -129,7 +131,7 @@ Encodes the system state of the vehicle published by commander.
```c
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 1
uint32 MESSAGE_VERSION = 2
uint64 timestamp # time since system start (microseconds)
@ -192,6 +194,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
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
@ -255,6 +258,8 @@ bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
bool traffic_avoidance_system_present
bool rc_calibration_in_progress
bool calibration_enabled

286
docs/en/msg_docs/VehicleStatusV1.md Normal file
View File

@ -0,0 +1,286 @@
---
pageClass: is-wide-page
---
# VehicleStatusV1 (UORB message)
Encodes the system state of the vehicle published by commander.
**TOPICS:** vehicle_statusv1
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | -------- | -------------- | --------------------------------------------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| armed_time | `uint64` | us | | Arming timestamp |
| takeoff_time | `uint64` | us | | Takeoff timestamp |
| arming_state | `uint8` | | |
| latest_arming_reason | `uint8` | | |
| latest_disarming_reason | `uint8` | | |
| nav_state_timestamp | `uint64` | | | Time when current nav_state activated |
| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode |
| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
| 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` | | [FAILURE](#FAILURE) |
| hil_state | `uint8` | enum HIL_STATE | |
| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) |
| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) |
| gcs_connection_lost | `bool` | | | datalink to GCS lost |
| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
| is_vtol | `bool` | | | True if the system is VTOL capable |
| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
| safety_button_available | `bool` | | | Set to true if a safety button is connected |
| safety_off | `bool` | | | Set to true if safety is off |
| power_input_valid | `bool` | | | Set if input power is valid |
| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link |
| open_drone_id_system_present | `bool` | | |
| open_drone_id_system_healthy | `bool` | | |
| parachute_system_present | `bool` | | |
| parachute_system_healthy | `bool` | | |
| rc_calibration_in_progress | `bool` | | |
| calibration_enabled | `bool` | | |
| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
## Enums
### NAVIGATION_STATE {#NAVIGATION_STATE}
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------- |
| <a href="#NAVIGATION_STATE_MANUAL"></a> NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode |
| <a href="#NAVIGATION_STATE_ALTCTL"></a> NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode |
| <a href="#NAVIGATION_STATE_POSCTL"></a> NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode |
| <a href="#NAVIGATION_STATE_AUTO_MISSION"></a> NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode |
| <a href="#NAVIGATION_STATE_AUTO_LOITER"></a> NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode |
| <a href="#NAVIGATION_STATE_AUTO_RTL"></a> NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode |
| <a href="#NAVIGATION_STATE_POSITION_SLOW"></a> NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 |
| <a href="#NAVIGATION_STATE_FREE5"></a> NAVIGATION_STATE_FREE5 | `uint8` | 7 |
| <a href="#NAVIGATION_STATE_ALTITUDE_CRUISE"></a> NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode |
| <a href="#NAVIGATION_STATE_FREE3"></a> NAVIGATION_STATE_FREE3 | `uint8` | 9 |
| <a href="#NAVIGATION_STATE_ACRO"></a> NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode |
| <a href="#NAVIGATION_STATE_FREE2"></a> NAVIGATION_STATE_FREE2 | `uint8` | 11 |
| <a href="#NAVIGATION_STATE_DESCEND"></a> NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) |
| <a href="#NAVIGATION_STATE_TERMINATION"></a> NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode |
| <a href="#NAVIGATION_STATE_OFFBOARD"></a> NAVIGATION_STATE_OFFBOARD | `uint8` | 14 |
| <a href="#NAVIGATION_STATE_STAB"></a> NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode |
| <a href="#NAVIGATION_STATE_FREE1"></a> NAVIGATION_STATE_FREE1 | `uint8` | 16 |
| <a href="#NAVIGATION_STATE_AUTO_TAKEOFF"></a> NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff |
| <a href="#NAVIGATION_STATE_AUTO_LAND"></a> NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land |
| <a href="#NAVIGATION_STATE_AUTO_FOLLOW_TARGET"></a> NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow |
| <a href="#NAVIGATION_STATE_AUTO_PRECLAND"></a> NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target |
| <a href="#NAVIGATION_STATE_ORBIT"></a> NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle |
| <a href="#NAVIGATION_STATE_AUTO_VTOL_TAKEOFF"></a> NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter |
| <a href="#NAVIGATION_STATE_EXTERNAL1"></a> NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 |
| <a href="#NAVIGATION_STATE_EXTERNAL2"></a> NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 |
| <a href="#NAVIGATION_STATE_EXTERNAL3"></a> NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 |
| <a href="#NAVIGATION_STATE_EXTERNAL4"></a> NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 |
| <a href="#NAVIGATION_STATE_EXTERNAL5"></a> NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 |
| <a href="#NAVIGATION_STATE_EXTERNAL6"></a> NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 |
| <a href="#NAVIGATION_STATE_EXTERNAL7"></a> NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 |
| <a href="#NAVIGATION_STATE_EXTERNAL8"></a> NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 |
| <a href="#NAVIGATION_STATE_MAX"></a> NAVIGATION_STATE_MAX | `uint8` | 31 |
### FAILURE {#FAILURE}
| Name | Type | Value | Description |
| --------------------------------------------------------------- | -------- | ----- | ----------- |
| <a href="#FAILURE_NONE"></a> FAILURE_NONE | `uint16` | 0 |
| <a href="#FAILURE_ROLL"></a> FAILURE_ROLL | `uint16` | 1 | (1 << 0) |
| <a href="#FAILURE_PITCH"></a> FAILURE_PITCH | `uint16` | 2 | (1 << 1) |
| <a href="#FAILURE_ALT"></a> FAILURE_ALT | `uint16` | 4 | (1 << 2) |
| <a href="#FAILURE_EXT"></a> FAILURE_EXT | `uint16` | 8 | (1 << 3) |
| <a href="#FAILURE_ARM_ESC"></a> FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) |
| <a href="#FAILURE_BATTERY"></a> FAILURE_BATTERY | `uint16` | 32 | (1 << 5) |
| <a href="#FAILURE_IMBALANCED_PROP"></a> FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) |
| <a href="#FAILURE_MOTOR"></a> FAILURE_MOTOR | `uint16` | 128 | (1 << 7) |
### VEHICLE_TYPE {#VEHICLE_TYPE}
| Name | Type | Value | Description |
| ----------------------------------------------------------------- | ------- | ----- | ----------- |
| <a href="#VEHICLE_TYPE_UNSPECIFIED"></a> VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 |
| <a href="#VEHICLE_TYPE_ROTARY_WING"></a> VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 |
| <a href="#VEHICLE_TYPE_FIXED_WING"></a> VEHICLE_TYPE_FIXED_WING | `uint8` | 2 |
| <a href="#VEHICLE_TYPE_ROVER"></a> VEHICLE_TYPE_ROVER | `uint8` | 3 |
### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE}
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------ |
| <a href="#FAILSAFE_DEFER_STATE_DISABLED"></a> FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 |
| <a href="#FAILSAFE_DEFER_STATE_ENABLED"></a> FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 |
| <a href="#FAILSAFE_DEFER_STATE_WOULD_FAILSAFE"></a> FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a href="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED | `uint8` | 1 |
| <a href="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED | `uint8` | 2 |
| <a href="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 |
| <a href="#ARM_DISARM_REASON_RC_SWITCH"></a> ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 |
| <a href="#ARM_DISARM_REASON_COMMAND_INTERNAL"></a> ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 |
| <a href="#ARM_DISARM_REASON_COMMAND_EXTERNAL"></a> ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 |
| <a href="#ARM_DISARM_REASON_MISSION_START"></a> ARM_DISARM_REASON_MISSION_START | `uint8` | 5 |
| <a href="#ARM_DISARM_REASON_LANDING"></a> ARM_DISARM_REASON_LANDING | `uint8` | 6 |
| <a href="#ARM_DISARM_REASON_PREFLIGHT_INACTION"></a> ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 |
| <a href="#ARM_DISARM_REASON_KILL_SWITCH"></a> ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 |
| <a href="#ARM_DISARM_REASON_RC_BUTTON"></a> ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 |
| <a href="#ARM_DISARM_REASON_FAILSAFE"></a> ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 |
| <a href="#HIL_STATE_OFF"></a> HIL_STATE_OFF | `uint8` | 0 |
| <a href="#HIL_STATE_ON"></a> HIL_STATE_ON | `uint8` | 1 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV1.msg)
::: details Click here to see original file
```c
# Encodes the system state of the vehicle published by commander
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start
uint64 armed_time # [us] Arming timestamp
uint64 takeoff_time # [us] Takeoff timestamp
uint8 arming_state
uint8 ARMING_STATE_DISARMED = 1
uint8 ARMING_STATE_ARMED = 2
uint8 latest_arming_reason
uint8 latest_disarming_reason
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
uint8 ARM_DISARM_REASON_MISSION_START = 5
uint8 ARM_DISARM_REASON_LANDING = 6
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14
uint64 nav_state_timestamp # Time when current nav_state activated
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_FREE1 = 16
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
uint8 NAVIGATION_STATE_EXTERNAL4 = 26
uint8 NAVIGATION_STATE_EXTERNAL5 = 27
uint8 NAVIGATION_STATE_EXTERNAL6 = 28
uint8 NAVIGATION_STATE_EXTERNAL7 = 29
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31
uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)
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 # [@enum FAILURE]
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 # [enum HIL_STATE]
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type # [@enum VEHICLE_TYPE]
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]
# Link loss
bool gcs_connection_lost # datalink to GCS lost
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
# VTOL flags
bool is_vtol # True if the system is VTOL capable
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
bool in_transition_mode # True if VTOL is doing a transition
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
# MAVLink identification
uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
bool safety_button_available # Set to true if a safety button is connected
bool safety_off # Set to true if safety is off
bool power_input_valid # Set if input power is valid
bool usb_connected # Set to true (never cleared) once telemetry received from usb link
bool open_drone_id_system_present
bool open_drone_id_system_healthy
bool parachute_system_present
bool parachute_system_healthy
bool rc_calibration_in_progress
bool calibration_enabled
bool pre_flight_checks_pass # true if all checks necessary to arm pass
```
:::

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@ -269,3 +269,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.

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@ -73,9 +73,9 @@ Configure the action when there is a potential collision using the parameter bel
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_AVOID"></a>[NAV_TRAFF_AVOID](../advanced_config/parameter_reference.md#NAV_TRAFF_AVOID) | Enable traffic avoidance mode specify avoidance response. 0: Disable, 1: Warn only, 2: Return mode, 3: Land mode. |
| <a id="NAV_TRAFF_A_HOR"></a>[NAV_TRAFF_A_HOR](../advanced_config/parameter_reference.md#NAV_TRAFF_A_HOR) | Horizonal radius of cylinder around the vehicle that defines its airspace (i.e. the airspace in the ground plane). |
| <a id="NAV_TRAFF_A_VER"></a>[NAV_TRAFF_A_VER](../advanced_config/parameter_reference.md#NAV_TRAFF_A_VER) | Vertical height above and below vehicle of the cylinder that defines its airspace (also see [NAV_TRAFF_A_HOR](#NAV_TRAFF_A_HOR)). |
| <a id="NAV_TRAFF_COLL_T"></a>[NAV_TRAFF_COLL_T](../advanced_config/parameter_reference.md#NAV_TRAFF_COLL_T) | Collision time threshold. Avoidance will trigger if the estimated time until collision drops below this value (the estimated time is based on relative speed of traffic and UAV). |
### Arming Check
@ -85,9 +85,9 @@ This ensures that a traffic avoidance system is connected and functioning before
The check is configured using the [COM_ARM_TRAFF](../advanced_config/parameter_reference.md#COM_ARM_TRAFF) parameter:
| Value | Description |
| ----- | --------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| Value | Description |
| ----- | -------------------------------------------------------------------------------------------------------------------------- |
| 0 | Disabled (default). No check is performed. |
| 1 | Warning only. A warning is issued if no traffic avoidance system is detected, but arming is allowed. |
| 2 | Enforce for all modes. Arming is denied if no traffic avoidance system is detected, regardless of flight mode. |
| 3 | Enforce for mission modes only. Arming is denied if no traffic avoidance system is detected and a mission mode is planned. |

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