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docs/en/msg_docs/ArmingCheckRequest.md
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@@ -1,6 +1,10 @@
---
pageClass: is-wide-page
---
# ArmingCheckRequest (UORB message)
Arming check request
Arming check request.
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -9,7 +13,27 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
**TOPICS:** arming_checkrequest
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------ | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
::: details Click here to see original file
```c
# Arming check request
@@ -28,5 +52,6 @@ uint64 timestamp # [us] Time since system start
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
```
:::