mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
55 lines
2.7 KiB
Markdown
55 lines
2.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# ModeCompleted (повідомлення UORB)
|
|
|
|
Результат завершення режиму, опублікований активним режимом. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
|
|
|
|
**TOPICS:** mode_completed
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| result | `uint8` | | | One of RESULT\_\* |
|
|
| nav_state | `uint8` | | | Source mode (values in VehicleStatus) |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- |
|
|
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
|
|
| <a id="#RESULT_SUCCESS"></a> RESULT_SUCCESS | `uint8` | 0 | |
|
|
| <a id="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# Mode completion result, published by an active mode.
|
|
# The possible values of nav_state are defined in the VehicleStatus msg.
|
|
# Note that this is not always published (e.g. when a user switches modes or on
|
|
# failsafe activation)
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
|
|
uint8 RESULT_SUCCESS = 0
|
|
# [1-99]: reserved
|
|
uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)
|
|
|
|
uint8 result # One of RESULT_*
|
|
|
|
uint8 nav_state # Source mode (values in VehicleStatus)
|
|
```
|
|
|
|
:::
|