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uORB message layout fixes (#25581)

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* uORB message layout fixes

* Apply suggestions from code review

---------

Co-authored-by: PX4BuildBot <bot@pixhawk.org>
This commit is contained in:
Hamish Willee
2025-09-19 09:06:01 +10:00
committed by GitHub
co-authored by PX4BuildBot
parent c06ba93175
commit 799f910ca9
5 changed files with 88 additions and 87 deletions
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msg/versioned/ArmingCheckReply.msg
+20 -20
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@@ -1,4 +1,4 @@
# Arming check reply.
# Arming check reply
#
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -11,33 +11,33 @@ uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
uint8 request_id # Id of ArmingCheckRequest for which this is a response.
uint8 registration_id # Id of external component emitting this response.
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
uint8 registration_id # [-] Id of external component emitting this response
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
uint8 num_events # Number of queued failure messages (Event) in the events field.
uint8 num_events # Number of queued failure messages (Event) in the events field
Event[5] events # Arming failure reasons (Queue of events to report to GCS).
Event[5] events # Arming failure reasons (Queue of events to report to GCS)
# Mode requirements
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
bool mode_req_attitude # Requires an attitude estimate.
bool mode_req_local_alt # Requires a local altitude estimate.
bool mode_req_local_position # Requires a local position estimate.
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
bool mode_req_global_position # Requires a global position estimate.
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
bool mode_req_mission # Requires an uploaded mission.
bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
bool mode_req_attitude # Requires an attitude estimate
bool mode_req_local_alt # Requires a local altitude estimate
bool mode_req_local_position # Requires a local position estimate
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
bool mode_req_global_position # Requires a global position estimate
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
bool mode_req_mission # Requires an uploaded mission
bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
bool mode_req_manual_control # Requires a manual controller
uint8 ORB_QUEUE_LENGTH = 4