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55 lines
4.6 KiB
Markdown
55 lines
4.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RtlStatus (UORB message)
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**TOPICS:** rtl_status
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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` | | | time since system start (microseconds) |
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| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items |
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| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). |
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| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting |
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| rtl_type | `uint8` | | | Type of RTL chosen |
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| safe_point_index | `uint8` | | | index of the chosen safe point, UINT8_MAX if no rally point was chosen |
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## Constants
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| Name | Type | Value | Description |
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| ------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="#RTL_STATUS_TYPE_NONE"></a> RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
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| <a id="#RTL_STATUS_TYPE_DIRECT_SAFE_POINT"></a> RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
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| <a id="#RTL_STATUS_TYPE_DIRECT_MISSION_LAND"></a> RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
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| <a id="#RTL_STATUS_TYPE_FOLLOW_MISSION"></a> RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 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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| <a id="#RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE"></a> RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 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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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg)
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::: details Click here to see original file
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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, UINT8_MAX if no rally point was chosen
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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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:::
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