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@@ -10,53 +10,55 @@ Encodes the system state of the vehicle published by commander.
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| armed_time | `uint64` | | | Arming timestamp (microseconds) |
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| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) |
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| arming_state | `uint8` | | |
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| latest_arming_reason | `uint8` | | |
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| latest_disarming_reason | `uint8` | | |
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| nav_state_timestamp | `uint64` | | | time when current nav_state activated |
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| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
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| nav_state | `uint8` | | | Currently active mode |
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| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
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| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
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| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
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| failure_detector_status | `uint16` | | |
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| hil_state | `uint8` | | |
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| vehicle_type | `uint8` | | |
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| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
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| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
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| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* |
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| gcs_connection_lost | `bool` | | | datalink to GCS lost |
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| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
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| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
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| is_vtol | `bool` | | | True if the system is VTOL capable |
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| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
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| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
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| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
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| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
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| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
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| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
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| safety_button_available | `bool` | | | Set to true if a safety button is connected |
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| safety_off | `bool` | | | Set to true if safety is off |
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| power_input_valid | `bool` | | | set if input power is valid |
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| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link |
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| open_drone_id_system_present | `bool` | | |
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| open_drone_id_system_healthy | `bool` | | |
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| parachute_system_present | `bool` | | |
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| parachute_system_healthy | `bool` | | |
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| rc_calibration_in_progress | `bool` | | |
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| calibration_enabled | `bool` | | |
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| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| armed_time | `uint64` | | | Arming timestamp (microseconds) |
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| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) |
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| arming_state | `uint8` | | |
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| latest_arming_reason | `uint8` | | |
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| latest_disarming_reason | `uint8` | | |
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| nav_state_timestamp | `uint64` | | | time when current nav_state activated |
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| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) |
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| nav_state | `uint8` | | | Currently active mode |
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| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) |
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| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) |
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| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values |
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| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select |
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| failure_detector_status | `uint16` | | |
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| hil_state | `uint8` | | |
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| vehicle_type | `uint8` | | |
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| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) |
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| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control |
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| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* |
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| gcs_connection_lost | `bool` | | | datalink to GCS lost |
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| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events |
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| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost |
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| is_vtol | `bool` | | | True if the system is VTOL capable |
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| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW |
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| in_transition_mode | `bool` | | | True if VTOL is doing a transition |
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| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW |
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| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE |
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| system_id | `uint8` | | | system id, contains MAVLink's system ID field |
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| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field |
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| safety_button_available | `bool` | | | Set to true if a safety button is connected |
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| safety_off | `bool` | | | Set to true if safety is off |
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| power_input_valid | `bool` | | | set if input power is valid |
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| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link |
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| open_drone_id_system_present | `bool` | | |
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| open_drone_id_system_healthy | `bool` | | |
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| parachute_system_present | `bool` | | |
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| parachute_system_healthy | `bool` | | |
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| traffic_avoidance_system_present | `bool` | | |
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| rc_calibration_in_progress | `bool` | | |
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| calibration_enabled | `bool` | | |
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| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 2 |
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| <a href="#ARMING_STATE_DISARMED"></a> ARMING_STATE_DISARMED | `uint8` | 1 |
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| <a href="#ARMING_STATE_ARMED"></a> ARMING_STATE_ARMED | `uint8` | 2 |
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| <a href="#ARM_DISARM_REASON_STICK_GESTURE"></a> ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 |
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@@ -129,7 +131,7 @@ Encodes the system state of the vehicle published by commander.
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```c
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# Encodes the system state of the vehicle published by commander
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uint32 MESSAGE_VERSION = 1
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uint32 MESSAGE_VERSION = 2
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uint64 timestamp # time since system start (microseconds)
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@@ -192,6 +194,7 @@ uint8 NAVIGATION_STATE_EXTERNAL8 = 30
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uint8 NAVIGATION_STATE_MAX = 31
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uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
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uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state)
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uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
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uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
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@@ -255,6 +258,8 @@ bool open_drone_id_system_healthy
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bool parachute_system_present
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bool parachute_system_healthy
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bool traffic_avoidance_system_present
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bool rc_calibration_in_progress
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bool calibration_enabled
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