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58 lines
3.1 KiB
Markdown
58 lines
3.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ArmingCheckRequest (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
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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` | 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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| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
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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` | 1 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
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::: details 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 = 1
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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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uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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```
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:::
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