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94 lines
5.9 KiB
Markdown
94 lines
5.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# ManualControlSwitches (UORB message)
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**TOPICS:** manual_control_switches
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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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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| mode_slot | `uint8` | | | the slot a specific model selector is in |
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| arm_switch | `uint8` | | | arm/disarm switch: _DISARMED_, ARMED |
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| return_switch | `uint8` | | | return to launch 2 position switch (mandatory): _NORMAL_, RTL |
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| loiter_switch | `uint8` | | | loiter 2 position switch (optional): _MISSION_, LOITER |
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| offboard_switch | `uint8` | | | offboard 2 position switch (optional): _NORMAL_, OFFBOARD |
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| kill_switch | `uint8` | | | throttle kill: _NORMAL_, KILL |
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| termination_switch | `uint8` | | | trigger termination which cannot be undone |
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| gear_switch | `uint8` | | | landing gear switch: _DOWN_, UP |
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| transition_switch | `uint8` | | | VTOL transition switch: \_HOVER, FORWARD_FLIGHT |
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| photo_switch | `uint8` | | | Photo trigger switch |
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| video_switch | `uint8` | | | Photo trigger switch |
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| engage_main_motor_switch | `uint8` | | | Engage the main motor (for helicopters) |
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| payload_power_switch | `uint8` | | | Payload power switch |
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| switch_changes | `uint32` | | | number of switch changes |
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## Constants
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| Name | Type | Value | Description |
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| ------------------------------------------------- | ------- | ----- | --------------------------------- |
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| <a id="#SWITCH_POS_NONE"></a> SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
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| <a id="#SWITCH_POS_ON"></a> SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
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| <a id="#SWITCH_POS_MIDDLE"></a> SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
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| <a id="#SWITCH_POS_OFF"></a> SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
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| <a id="#MODE_SLOT_NONE"></a> MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
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| <a id="#MODE_SLOT_1"></a> MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
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| <a id="#MODE_SLOT_2"></a> MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
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| <a id="#MODE_SLOT_3"></a> MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
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| <a id="#MODE_SLOT_4"></a> MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
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| <a id="#MODE_SLOT_5"></a> MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
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| <a id="#MODE_SLOT_6"></a> MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
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| <a id="#MODE_SLOT_NUM"></a> MODE_SLOT_NUM | `uint8` | 6 | number of slots |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSwitches.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint8 SWITCH_POS_NONE = 0 # switch is not mapped
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uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
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uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
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uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
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uint8 MODE_SLOT_NONE = 0 # no mode slot assigned
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uint8 MODE_SLOT_1 = 1 # mode slot 1 selected
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uint8 MODE_SLOT_2 = 2 # mode slot 2 selected
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uint8 MODE_SLOT_3 = 3 # mode slot 3 selected
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uint8 MODE_SLOT_4 = 4 # mode slot 4 selected
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uint8 MODE_SLOT_5 = 5 # mode slot 5 selected
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uint8 MODE_SLOT_6 = 6 # mode slot 6 selected
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uint8 MODE_SLOT_NUM = 6 # number of slots
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uint8 mode_slot # the slot a specific model selector is in
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uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED
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uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
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uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
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uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
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uint8 kill_switch # throttle kill: _NORMAL_, KILL
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uint8 termination_switch # trigger termination which cannot be undone
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uint8 gear_switch # landing gear switch: _DOWN_, UP
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uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
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uint8 photo_switch # Photo trigger switch
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uint8 video_switch # Photo trigger switch
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uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
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uint8 payload_power_switch # Payload power switch
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uint32 switch_changes # number of switch changes
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```
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:::
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