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48 lines
2.8 KiB
Markdown
48 lines
2.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# LaunchDetectionStatus (UORB message)
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Status of the launch detection state machine (fixed-wing only).
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**TOPICS:** launch_detection_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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| launch_detection_state | `uint8` | | |
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| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------- |
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| <a id="#STATE_WAITING_FOR_LAUNCH"></a> STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
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| <a id="#STATE_LAUNCH_DETECTED_DISABLED_MOTOR"></a> STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
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| <a id="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg)
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::: details Click here to see original file
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```c
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# Status of the launch detection state machine (fixed-wing only)
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uint64 timestamp # time since system start (microseconds)
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uint8 STATE_WAITING_FOR_LAUNCH = 0 # waiting for launch
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uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult)
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uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
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uint8 launch_detection_state
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bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
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```
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:::
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