PX4-Autopilot/docs/en/msg_docs/LedControl.md

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LedControl (UORB message)

LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's.

TOPICS: led_control

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
led_mask	uint8			bitmask which LED(s) to control, set to 0xff for all
color	uint8			see COLOR_*
mode	uint8			see MODE_*
num_blinks	uint8			how many times to blink (number of on-off cycles if mode is one of MODEBLINK*) . Set to 0 for infinite
priority	uint8			priority: higher priority events will override current lower priority events (see MAX_PRIORITY)

Constants

Name	Type	Value	Description
COLOR_OFF	uint8	0	this is only used in the drivers
COLOR_RED	uint8	1
COLOR_GREEN	uint8	2
COLOR_BLUE	uint8	3
COLOR_YELLOW	uint8	4
COLOR_PURPLE	uint8	5
COLOR_AMBER	uint8	6
COLOR_CYAN	uint8	7
COLOR_WHITE	uint8	8
MODE_OFF	uint8	0	turn LED off
MODE_ON	uint8	1	turn LED on
MODE_DISABLED	uint8	2	disable this priority (switch to lower priority setting)
MODE_BLINK_SLOW	uint8	3
MODE_BLINK_NORMAL	uint8	4
MODE_BLINK_FAST	uint8	5
MODE_BREATHE	uint8	6	continuously increase & decrease brightness (solid color if driver does not support it)
MODE_FLASH	uint8	7	two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
MAX_PRIORITY	uint8	2	maximum priority (minimum is 0)
ORB_QUEUE_LENGTH	uint8	8	needs to match BOARD_MAX_LEDS

Source Message

Source file (GitHub)

::: details Click here to see original file

# LED control: control a single or multiple LED's.
# These are the externally visible LED's, not the board LED's

uint64 timestamp		# time since system start (microseconds)

# colors
uint8 COLOR_OFF = 0 # this is only used in the drivers
uint8 COLOR_RED = 1
uint8 COLOR_GREEN = 2
uint8 COLOR_BLUE = 3
uint8 COLOR_YELLOW = 4
uint8 COLOR_PURPLE = 5
uint8 COLOR_AMBER = 6
uint8 COLOR_CYAN = 7
uint8 COLOR_WHITE = 8

# LED modes definitions
uint8 MODE_OFF = 0 # turn LED off
uint8 MODE_ON = 1  # turn LED on
uint8 MODE_DISABLED = 2  # disable this priority (switch to lower priority setting)
uint8 MODE_BLINK_SLOW = 3
uint8 MODE_BLINK_NORMAL = 4
uint8 MODE_BLINK_FAST = 5
uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while

uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)


uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
uint8 color # see COLOR_*
uint8 mode # see MODE_*
uint8 num_blinks # how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*) . Set to 0 for infinite
                 # in MODE_FLASH it is the number of cycles. Max number of blinks: 122 and max number of flash cycles: 20
uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)

uint8 ORB_QUEUE_LENGTH = 8      # needs to match BOARD_MAX_LEDS

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