MSG: unified arming check message field naming

2026-05-29 07:10:05 +08:00 · 2025-09-09 14:54:22 +02:00
3 changed files with 6 additions and 6 deletions
@@ -1,9 +1,9 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp # time since system start (microseconds)

 uint8 request_id
-uint8 registration_id
+uint8 arming_check_id

 uint8 HEALTH_COMPONENT_INDEX_NONE = 0

@@ -5,7 +5,7 @@
 # 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).
+# The reply will also include the arming_check_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

 uint32 MESSAGE_VERSION = 0

@@ -4,15 +4,15 @@
 # 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).
 # The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
 #
-# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
+# Note that the external component is identified by its arming_check_id, which is allocated to the component during registration in RegisterExtComponentReply.
 # The message is not used by internal/FMU components, as their mode requirements are known at compile time.

-uint32 MESSAGE_VERSION  = 1
+uint32 MESSAGE_VERSION  = 2

 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 arming_check_id  # Id of external component emitting this response.

 uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.