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56 lines
3.1 KiB
Markdown
56 lines
3.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ArmingCheckRequestV0 (UORB message)
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Arming check request.
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Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
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The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
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The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
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**TOPICS:** arming_check_request_v0
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start. |
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| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ------------------------------------------------------------------ | -------- | ----- | -- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.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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# Arming check request.
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#
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# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
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#
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# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
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# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
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```
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:::
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