mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-10 22:59:38 +08:00
Jonas Eschmann
abc756bf34
* forwarding offboard setpoints in modes using the external mode registration * requesting offboard setpoint in RAPTOR * adding old message versions * bumping vehicle status * adding message translations * updating reference to versioned old message on previous translations
26 lines
1.3 KiB
Plaintext
26 lines
1.3 KiB
Plaintext
# Request to register an external component
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uint32 MESSAGE_VERSION = 2
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uint64 timestamp # time since system start (microseconds)
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uint64 request_id # ID, set this to a random value
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char[25] name # either the requested mode name, or component name
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uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
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uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
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# Components to be registered
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bool register_arming_check
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bool register_mode # registering a mode also requires arming_check to be set
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bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
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bool enable_replace_internal_mode # set to true if an internal mode should be replaced
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uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
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bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
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bool not_user_selectable # mode cannot be selected by the user
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bool request_offboard_setpoints # set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink
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uint8 ORB_QUEUE_LENGTH = 2
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