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55 lines
2.5 KiB
Markdown
55 lines
2.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# VtolVehicleStatus (UORB message)
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VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
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**TOPICS:** vtol_vehicle_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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| vehicle_vtol_state | `uint8` | | | current state of the vtol, see VEHICLE_VTOL_STATE |
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| fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
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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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| <a id="#VEHICLE_VTOL_STATE_UNDEFINED"></a> VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 |
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| <a id="#VEHICLE_VTOL_STATE_TRANSITION_TO_FW"></a> VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 |
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| <a id="#VEHICLE_VTOL_STATE_TRANSITION_TO_MC"></a> VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 |
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| <a id="#VEHICLE_VTOL_STATE_MC"></a> VEHICLE_VTOL_STATE_MC | `uint8` | 3 |
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| <a id="#VEHICLE_VTOL_STATE_FW"></a> VEHICLE_VTOL_STATE_FW | `uint8` | 4 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg)
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::: details Click here to see original file
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```c
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# VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
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uint32 MESSAGE_VERSION = 0
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uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0
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uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
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uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
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uint8 VEHICLE_VTOL_STATE_MC = 3
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uint8 VEHICLE_VTOL_STATE_FW = 4
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uint64 timestamp # time since system start (microseconds)
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uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE
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bool fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
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```
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:::
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