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70 lines
4.4 KiB
Markdown
70 lines
4.4 KiB
Markdown
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pageClass: is-wide-page
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---
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# VehicleControlMode (UORB message)
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**TOPICS:** vehicle_control_mode config_control_setpoints
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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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| flag_armed | `bool` | | | synonym for actuator_armed.armed |
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| flag_multicopter_position_control_enabled | `bool` | | |
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| flag_control_manual_enabled | `bool` | | | true if manual input is mixed in |
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| flag_control_auto_enabled | `bool` | | | true if onboard autopilot should act |
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| flag_control_offboard_enabled | `bool` | | | true if offboard control should be used |
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| flag_control_position_enabled | `bool` | | | true if position is controlled |
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| flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled |
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| flag_control_altitude_enabled | `bool` | | | true if altitude is controlled |
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| flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled |
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| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled |
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| flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in |
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| flag_control_rates_enabled | `bool` | | | true if rates are stabilized |
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| flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled |
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| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled |
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| source_id | `uint8` | | | Mode ID (nav_state) |
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## Constants
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| Name | Type | Value | Description |
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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/versioned/VehicleControlMode.msg)
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::: details Click here to see original file
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool flag_armed # synonym for actuator_armed.armed
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bool flag_multicopter_position_control_enabled
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bool flag_control_manual_enabled # true if manual input is mixed in
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bool flag_control_auto_enabled # true if onboard autopilot should act
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bool flag_control_offboard_enabled # true if offboard control should be used
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bool flag_control_position_enabled # true if position is controlled
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bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
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bool flag_control_altitude_enabled # true if altitude is controlled
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bool flag_control_climb_rate_enabled # true if climb rate is controlled
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bool flag_control_acceleration_enabled # true if acceleration is controlled
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bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
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bool flag_control_rates_enabled # true if rates are stabilized
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bool flag_control_allocation_enabled # true if control allocation is enabled
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bool flag_control_termination_enabled # true if flighttermination is enabled
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# TODO: use dedicated topic for external requests
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uint8 source_id # Mode ID (nav_state)
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# TOPICS vehicle_control_mode config_control_setpoints
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```
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:::
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