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70 lines
6.7 KiB
Markdown
70 lines
6.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RegisterExtComponentRequest (UORB message)
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Request to register an external component.
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**TOPICS:** register_ext_component_request
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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` | | | time since system start (microseconds) |
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| request_id | `uint64` | | | ID, set this to a random value |
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| name | `char[25]` | | | either the requested mode name, or component name |
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| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION |
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| register_arming_check | `bool` | | | |
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| register_mode | `bool` | | | registering a mode also requires arming_check to be set |
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| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) |
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| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced |
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| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* |
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| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) |
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| not_user_selectable | `bool` | | | mode cannot be selected by the user |
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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="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
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| <a id="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.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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# Request to register an external component
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID, set this to a random value
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char[25] name # either the requested mode name, or component name
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uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
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uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
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# Components to be registered
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bool register_arming_check
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bool register_mode # registering a mode also requires arming_check to be set
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bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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bool not_user_selectable # mode cannot be selected by the user
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uint8 ORB_QUEUE_LENGTH = 2
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```
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:::
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