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23 lines
1.4 KiB
Markdown
23 lines
1.4 KiB
Markdown
# RtlStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint32 safe_points_id # unique ID of active set of safe_point_items
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bool is_evaluation_pending # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).
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bool has_vtol_approach # flag if approaches are defined for current RTL_TYPE parameter setting
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uint8 rtl_type # Type of RTL chosen
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uint8 safe_point_index # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode
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uint8 RTL_STATUS_TYPE_NONE=0 # pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
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uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe point or home position
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uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # going straight to the beginning of the mission landing
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uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
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uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.
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```
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