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54 lines
2.2 KiB
Markdown
54 lines
2.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# TakeoffStatus (UORB message)
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Status of the takeoff state machine currently just available for multicopters.
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**TOPICS:** takeoff_status
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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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| takeoff_state | `uint8` | | |
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| tilt_limit | `float32` | | | limited tilt feasibility during takeoff, contains maximum tilt otherwise |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------------------------------------- | ------- | ----- | ----------- |
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| <a id="#TAKEOFF_STATE_UNINITIALIZED"></a> TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 |
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| <a id="#TAKEOFF_STATE_DISARMED"></a> TAKEOFF_STATE_DISARMED | `uint8` | 1 |
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| <a id="#TAKEOFF_STATE_SPOOLUP"></a> TAKEOFF_STATE_SPOOLUP | `uint8` | 2 |
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| <a id="#TAKEOFF_STATE_READY_FOR_TAKEOFF"></a> TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 |
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| <a id="#TAKEOFF_STATE_RAMPUP"></a> TAKEOFF_STATE_RAMPUP | `uint8` | 4 |
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| <a id="#TAKEOFF_STATE_FLIGHT"></a> TAKEOFF_STATE_FLIGHT | `uint8` | 5 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg)
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::: details Click here to see original file
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```c
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# Status of the takeoff state machine currently just available for multicopters
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uint64 timestamp # time since system start (microseconds)
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uint8 TAKEOFF_STATE_UNINITIALIZED = 0
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uint8 TAKEOFF_STATE_DISARMED = 1
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uint8 TAKEOFF_STATE_SPOOLUP = 2
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uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 3
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uint8 TAKEOFF_STATE_RAMPUP = 4
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uint8 TAKEOFF_STATE_FLIGHT = 5
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uint8 takeoff_state
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float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise
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```
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:::
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