mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
86 lines
3.6 KiB
Markdown
86 lines
3.6 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# ArmingCheckReplyV0 (UORB message)
|
|
|
|
**TOPICS:** arming_check_reply_v0
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| request_id | `uint8` | | |
|
|
| registration_id | `uint8` | | |
|
|
| health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* |
|
|
| health_component_is_present | `bool` | | |
|
|
| health_component_warning | `bool` | | |
|
|
| health_component_error | `bool` | | |
|
|
| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run |
|
|
| num_events | `uint8` | | |
|
|
| events | `EventV0[5]` | | |
|
|
| mode_req_angular_velocity | `bool` | | |
|
|
| mode_req_attitude | `bool` | | |
|
|
| mode_req_local_alt | `bool` | | |
|
|
| mode_req_local_position | `bool` | | |
|
|
| mode_req_local_position_relaxed | `bool` | | |
|
|
| mode_req_global_position | `bool` | | |
|
|
| mode_req_mission | `bool` | | |
|
|
| mode_req_home_position | `bool` | | |
|
|
| mode_req_prevent_arming | `bool` | | |
|
|
| mode_req_manual_control | `bool` | | |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| --------------------------------------------------------------------- | -------- | ----- | ----------- |
|
|
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
|
|
| <a id="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 |
|
|
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint8 request_id
|
|
uint8 registration_id
|
|
|
|
uint8 HEALTH_COMPONENT_INDEX_NONE = 0
|
|
|
|
uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
|
|
bool health_component_is_present
|
|
bool health_component_warning
|
|
bool health_component_error
|
|
|
|
bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
|
|
|
|
uint8 num_events
|
|
|
|
EventV0[5] events
|
|
|
|
# Mode requirements
|
|
bool mode_req_angular_velocity
|
|
bool mode_req_attitude
|
|
bool mode_req_local_alt
|
|
bool mode_req_local_position
|
|
bool mode_req_local_position_relaxed
|
|
bool mode_req_global_position
|
|
bool mode_req_mission
|
|
bool mode_req_home_position
|
|
bool mode_req_prevent_arming
|
|
bool mode_req_manual_control
|
|
|
|
|
|
uint8 ORB_QUEUE_LENGTH = 4
|
|
```
|
|
|
|
:::
|