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34 lines
1.4 KiB
Markdown
34 lines
1.4 KiB
Markdown
# RegisterExtComponentRequestV0 (UORB message)
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Запит на реєстрацію зовнішнього компонента
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg)
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```c
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# Request to register an external component
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uint32 MESSAGE_VERSION = 0
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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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uint8 ORB_QUEUE_LENGTH = 2
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```
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