FlightModeManager: publish takeoff status

msg/CMakeLists.txt

@@ -131,6 +131,7 @@ set(msg_files
 	tecs_status.msg
 	telemetry_status.msg
 	test_motor.msg
+	takeoff_status.msg
 	timesync.msg
 	timesync_status.msg
 	trajectory_bezier.msg

msg/takeoff_status.msg

@@ -0,0 +1,11 @@
+# Status of the takeoff state machine currently just availble for multicopters
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 TAKEOFF_STATE_DISARMED = 0
+uint8 TAKEOFF_STATE_SPOOLUP = 1
+uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 2
+uint8 TAKEOFF_STATE_RAMPUP = 3
+uint8 TAKEOFF_STATE_FLIGHT = 4
+
+uint8 takeoff_state

msg/tools/uorb_rtps_message_ids.yaml

@@ -310,6 +310,8 @@ rtps:
     id: 147
   - msg: mag_worker_data
     id: 148
+  - msg: takeoff_status
+    id: 149
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170