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85 lines
6.8 KiB
Markdown
85 lines
6.8 KiB
Markdown
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pageClass: is-wide-page
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---
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# ActionRequest (UORB message)
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Action request for the vehicle's main state.
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Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
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It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
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Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
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**TOPICS:** action_request
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| action | `uint8` | | [ACTION](#ACTION) | Requested action |
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| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture |
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| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
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## Enums
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### ACTION {#ACTION}
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------- |
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| <a href="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
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| <a href="#ACTION_ARM"></a> ACTION_ARM | `uint8` | 1 | Arm vehicle |
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| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
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| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
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| <a href="#ACTION_KILL"></a> ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
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| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
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| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
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| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
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| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
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### SOURCE {#SOURCE}
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| Name | Type | Value | Description |
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| --------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
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| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
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| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
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| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
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| <a href="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
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::: details Click here to see original file
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```c
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# Action request for the vehicle's main state
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#
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# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
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# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
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# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
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uint64 timestamp # [us] Time since system start
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uint8 action # [@enum ACTION] Requested action
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uint8 ACTION_DISARM = 0 # Disarm vehicle
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uint8 ACTION_ARM = 1 # Arm vehicle
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uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
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uint8 ACTION_UNKILL = 3 # Revert a kill action
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uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
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uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
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uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
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uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
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uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
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uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
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uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
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uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
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uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
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uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
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uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
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```
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:::
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