PX4-Autopilot/docs/en/msg_docs/VehicleStatusV1.md

pageClass

pageClass
is-wide-page

VehicleStatusV1 (UORB message)

Encodes the system state of the vehicle published by commander.

TOPICS: vehicle_status_v1

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
armed_time	uint64	us		Arming timestamp
takeoff_time	uint64	us		Takeoff timestamp
arming_state	uint8
latest_arming_reason	uint8
latest_disarming_reason	uint8
nav_state_timestamp	uint64			Time when current nav_state activated
nav_state_user_intention	uint8			Mode that the user selected (might be different from nav_state in a failsafe situation)
nav_state	uint8		NAVIGATION_STATE	Currently active mode
executor_in_charge	uint8			Current mode executor in charge (0=Autopilot)
valid_nav_states_mask	uint32			Bitmask for all valid nav_state values
can_set_nav_states_mask	uint32			Bitmask for all modes that a user can select
failure_detector_status	uint16		FAILURE
hil_state	uint8	enum HIL_STATE
vehicle_type	uint8		VEHICLE_TYPE
failsafe	bool			true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
failsafe_and_user_took_over	bool			true if system is in failsafe state but the user took over control
failsafe_defer_state	uint8		FAILSAFE_DEFER_STATE
gcs_connection_lost	bool			datalink to GCS lost
gcs_connection_lost_counter	uint8			counts unique GCS connection lost events
high_latency_data_link_lost	bool			Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
is_vtol	bool			True if the system is VTOL capable
is_vtol_tailsitter	bool			True if the system performs a 90° pitch down rotation during transition from MC to FW
in_transition_mode	bool			True if VTOL is doing a transition
in_transition_to_fw	bool			True if VTOL is doing a transition from MC to FW
system_type	uint8			system type, contains mavlink MAV_TYPE
system_id	uint8			system id, contains MAVLink's system ID field
component_id	uint8			subsystem / component id, contains MAVLink's component ID field
safety_button_available	bool			Set to true if a safety button is connected
safety_off	bool			Set to true if safety is off
power_input_valid	bool			Set if input power is valid
usb_connected	bool			Set to true (never cleared) once telemetry received from usb link
open_drone_id_system_present	bool
open_drone_id_system_healthy	bool
parachute_system_present	bool
parachute_system_healthy	bool
rc_calibration_in_progress	bool
calibration_enabled	bool
pre_flight_checks_pass	bool			true if all checks necessary to arm pass

Enums

NAVIGATION_STATE

Name	Type	Value	Description
NAVIGATION_STATE_MANUAL	uint8	0	Manual mode
NAVIGATION_STATE_ALTCTL	uint8	1	Altitude control mode
NAVIGATION_STATE_POSCTL	uint8	2	Position control mode
NAVIGATION_STATE_AUTO_MISSION	uint8	3	Auto mission mode
NAVIGATION_STATE_AUTO_LOITER	uint8	4	Auto loiter mode
NAVIGATION_STATE_AUTO_RTL	uint8	5	Auto return to launch mode
NAVIGATION_STATE_POSITION_SLOW	uint8	6
NAVIGATION_STATE_FREE5	uint8	7
NAVIGATION_STATE_ALTITUDE_CRUISE	uint8	8	Altitude with Cruise mode
NAVIGATION_STATE_FREE3	uint8	9
NAVIGATION_STATE_ACRO	uint8	10	Acro mode
NAVIGATION_STATE_FREE2	uint8	11
NAVIGATION_STATE_DESCEND	uint8	12	Descend mode (no position control)
NAVIGATION_STATE_TERMINATION	uint8	13	Termination mode
NAVIGATION_STATE_OFFBOARD	uint8	14
NAVIGATION_STATE_STAB	uint8	15	Stabilized mode
NAVIGATION_STATE_FREE1	uint8	16
NAVIGATION_STATE_AUTO_TAKEOFF	uint8	17	Takeoff
NAVIGATION_STATE_AUTO_LAND	uint8	18	Land
NAVIGATION_STATE_AUTO_FOLLOW_TARGET	uint8	19	Auto Follow
NAVIGATION_STATE_AUTO_PRECLAND	uint8	20	Precision land with landing target
NAVIGATION_STATE_ORBIT	uint8	21	Orbit in a circle
NAVIGATION_STATE_AUTO_VTOL_TAKEOFF	uint8	22	Takeoff, transition, establish loiter
NAVIGATION_STATE_EXTERNAL1	uint8	23
NAVIGATION_STATE_EXTERNAL2	uint8	24
NAVIGATION_STATE_EXTERNAL3	uint8	25
NAVIGATION_STATE_EXTERNAL4	uint8	26
NAVIGATION_STATE_EXTERNAL5	uint8	27
NAVIGATION_STATE_EXTERNAL6	uint8	28
NAVIGATION_STATE_EXTERNAL7	uint8	29
NAVIGATION_STATE_EXTERNAL8	uint8	30
NAVIGATION_STATE_MAX	uint8	31

FAILURE

Name	Type	Value	Description
FAILURE_NONE	uint16	0
FAILURE_ROLL	uint16	1	(1 << 0)
FAILURE_PITCH	uint16	2	(1 << 1)
FAILURE_ALT	uint16	4	(1 << 2)
FAILURE_EXT	uint16	8	(1 << 3)
FAILURE_ARM_ESC	uint16	16	(1 << 4)
FAILURE_BATTERY	uint16	32	(1 << 5)
FAILURE_IMBALANCED_PROP	uint16	64	(1 << 6)
FAILURE_MOTOR	uint16	128	(1 << 7)

VEHICLE_TYPE

Name	Type	Value	Description
VEHICLE_TYPE_UNSPECIFIED	uint8	0
VEHICLE_TYPE_ROTARY_WING	uint8	1
VEHICLE_TYPE_FIXED_WING	uint8	2
VEHICLE_TYPE_ROVER	uint8	3

FAILSAFE_DEFER_STATE

Name	Type	Value	Description
FAILSAFE_DEFER_STATE_DISABLED	uint8	0
FAILSAFE_DEFER_STATE_ENABLED	uint8	1
FAILSAFE_DEFER_STATE_WOULD_FAILSAFE	uint8	2	Failsafes deferred, but would trigger a failsafe

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	1
ARMING_STATE_DISARMED	uint8	1
ARMING_STATE_ARMED	uint8	2
ARM_DISARM_REASON_STICK_GESTURE	uint8	1
ARM_DISARM_REASON_RC_SWITCH	uint8	2
ARM_DISARM_REASON_COMMAND_INTERNAL	uint8	3
ARM_DISARM_REASON_COMMAND_EXTERNAL	uint8	4
ARM_DISARM_REASON_MISSION_START	uint8	5
ARM_DISARM_REASON_LANDING	uint8	6
ARM_DISARM_REASON_PREFLIGHT_INACTION	uint8	7
ARM_DISARM_REASON_KILL_SWITCH	uint8	8
ARM_DISARM_REASON_RC_BUTTON	uint8	13
ARM_DISARM_REASON_FAILSAFE	uint8	14
HIL_STATE_OFF	uint8	0
HIL_STATE_ON	uint8	1

Source Message

Source file (GitHub)

::: details Click here to see original file

# Encodes the system state of the vehicle published by commander

uint32 MESSAGE_VERSION = 1

uint64 timestamp # [us] Time since system start

uint64 armed_time # [us] Arming timestamp
uint64 takeoff_time # [us] Takeoff timestamp

uint8 arming_state
uint8 ARMING_STATE_DISARMED = 1
uint8 ARMING_STATE_ARMED = 2

uint8 latest_arming_reason
uint8 latest_disarming_reason
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
uint8 ARM_DISARM_REASON_MISSION_START = 5
uint8 ARM_DISARM_REASON_LANDING = 6
uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
uint8 ARM_DISARM_REASON_RC_BUTTON = 13
uint8 ARM_DISARM_REASON_FAILSAFE = 14

uint64 nav_state_timestamp # Time when current nav_state activated

uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)

uint8 nav_state # [@enum NAVIGATION_STATE] Currently active mode
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_FREE1 = 16
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
uint8 NAVIGATION_STATE_EXTERNAL4 = 26
uint8 NAVIGATION_STATE_EXTERNAL5 = 27
uint8 NAVIGATION_STATE_EXTERNAL6 = 28
uint8 NAVIGATION_STATE_EXTERNAL7 = 29
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
uint8 NAVIGATION_STATE_MAX = 31

uint8 executor_in_charge # [-] Current mode executor in charge (0=Autopilot)

uint32 valid_nav_states_mask # [-] Bitmask for all valid nav_state values
uint32 can_set_nav_states_mask # [-] Bitmask for all modes that a user can select

# Bitmask of detected failures
uint16 failure_detector_status # [@enum FAILURE]
uint16 FAILURE_NONE = 0
uint16 FAILURE_ROLL = 1 # (1 << 0)
uint16 FAILURE_PITCH = 2 # (1 << 1)
uint16 FAILURE_ALT = 4 # (1 << 2)
uint16 FAILURE_EXT = 8 # (1 << 3)
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
uint16 FAILURE_BATTERY = 32 # (1 << 5)
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
uint16 FAILURE_MOTOR = 128 # (1 << 7)

uint8 hil_state # [enum HIL_STATE]
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1

# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
uint8 vehicle_type # [@enum VEHICLE_TYPE]
uint8 VEHICLE_TYPE_UNSPECIFIED = 0
uint8 VEHICLE_TYPE_ROTARY_WING = 1
uint8 VEHICLE_TYPE_FIXED_WING = 2
uint8 VEHICLE_TYPE_ROVER = 3

uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe

bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
uint8 failsafe_defer_state # [@enum FAILSAFE_DEFER_STATE]

# Link loss
bool gcs_connection_lost # datalink to GCS lost
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost

# VTOL flags
bool is_vtol # True if the system is VTOL capable
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
bool in_transition_mode # True if VTOL is doing a transition
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW

# MAVLink identification
uint8 system_type # system type, contains mavlink MAV_TYPE
uint8 system_id # system id, contains MAVLink's system ID field
uint8 component_id # subsystem / component id, contains MAVLink's component ID field

bool safety_button_available # Set to true if a safety button is connected
bool safety_off # Set to true if safety is off

bool power_input_valid # Set if input power is valid
bool usb_connected # Set to true (never cleared) once telemetry received from usb link

bool open_drone_id_system_present
bool open_drone_id_system_healthy

bool parachute_system_present
bool parachute_system_healthy

bool rc_calibration_in_progress
bool calibration_enabled

bool pre_flight_checks_pass # true if all checks necessary to arm pass

:::