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55 lines
3.7 KiB
Markdown
55 lines
3.7 KiB
Markdown
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pageClass: is-wide-page
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---
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# PositionControllerLandingStatus (UORB message)
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**TOPICS:** position_controller_landing_status
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | time since system start |
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| lateral_touchdown_offset | `float32` | 米 | | lateral touchdown position offset manually commanded during landing |
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| flaring | `bool` | | | true if the aircraft is flaring |
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| abort_status | `uint8` | | | |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------ |
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| <a id="#NOT_ABORTED"></a> NOT_ABORTED | `uint8` | 0 | |
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| <a id="#ABORTED_BY_OPERATOR"></a> ABORTED_BY_OPERATOR | `uint8` | 1 | |
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| <a id="#TERRAIN_NOT_FOUND"></a> TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) |
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| <a id="#TERRAIN_TIMEOUT"></a> TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) |
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| <a id="#UNKNOWN_ABORT_CRITERION"></a> UNKNOWN_ABORT_CRITERION | `uint8` | 4 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerLandingStatus.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # [us] time since system start
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float32 lateral_touchdown_offset # [m] lateral touchdown position offset manually commanded during landing
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bool flaring # true if the aircraft is flaring
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# abort status is:
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# 0 if not aborted
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# >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons
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uint8 abort_status
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# abort reasons
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# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
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uint8 NOT_ABORTED = 0
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uint8 ABORTED_BY_OPERATOR = 1
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uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
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uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
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uint8 UNKNOWN_ABORT_CRITERION = 4
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```
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:::
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