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

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RtlStatus (UORB message)

TOPICS: rtl_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
safe_points_id	uint32			unique ID of active set of safe_point_items
is_evaluation_pending	bool			flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).
has_vtol_approach	bool			flag if approaches are defined for current RTL_TYPE parameter setting
rtl_type	uint8			Type of RTL chosen
safe_point_index	uint8			index of the chosen safe point, UINT8_MAX if no rally point was chosen

Constants

Name	Type	Value	Description
RTL_STATUS_TYPE_NONE	uint8	0	pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
RTL_STATUS_TYPE_DIRECT_SAFE_POINT	uint8	1	chosen to directly go to a safe point or home position
RTL_STATUS_TYPE_DIRECT_MISSION_LAND	uint8	2	going straight to the beginning of the mission landing
RTL_STATUS_TYPE_FOLLOW_MISSION	uint8	3	Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE	uint8	4	Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.

Source Message

Source file (GitHub)

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uint64 timestamp                      # time since system start (microseconds)

uint32 safe_points_id 		      # unique ID of active set of safe_point_items
bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).

bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

uint8 rtl_type	      		      # Type of RTL chosen
uint8 safe_point_index 		      # index of the chosen safe point, UINT8_MAX if no rally point was chosen

uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 	# going straight to the beginning of the mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 		# Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 	# Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.

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