vehicle cotnrol mode as msg

1 files changed, 22 insertions, 0 deletions

diff --git a/msg/px4_msgs/vehicle_control_mode.msg b/msg/px4_msgs/vehicle_control_mode.msg
new file mode 100644
index 000000000..153a642bb
--- /dev/null
+++ b/msg/px4_msgs/vehicle_control_mode.msg
@@ -0,0 +1,22 @@
+
+uint64 timestamp				# in microseconds since system start
+						# is set whenever the writing thread stores new data
+
+bool flag_armed
+
+bool flag_external_manual_override_ok		# external override non-fatal for system. Only true for fixed wing
+
+# XXX needs yet to be set by state machine helper
+bool flag_system_hil_enabled
+
+bool flag_control_manual_enabled		# true if manual input is mixed in
+bool flag_control_auto_enabled			# true if onboard autopilot should act
+bool flag_control_offboard_enabled		# true if offboard control should be used
+bool flag_control_rates_enabled			# true if rates are stabilized
+bool flag_control_attitude_enabled		# true if attitude stabilization is mixed in
+bool flag_control_force_enabled			# true if force control is mixed in
+bool flag_control_velocity_enabled		# true if horizontal velocity (implies direction) is controlled
+bool flag_control_position_enabled		# true if position is controlled
+bool flag_control_altitude_enabled		# true if altitude is controlled
+bool flag_control_climb_rate_enabled		# true if climb rate is controlled
+bool flag_control_termination_enabled		# true if flighttermination is enabled