sys_status

• File: mavros/src/plugins/sys_status.cpp
• Class: mavros::std_plugins::SystemStatusPlugin
• Namespace: sys
• Brief: System status plugin.

Required by all plugins.

Publishers

• state (mavros_msgs::msg::State)
• extended_state (mavros_msgs::msg::ExtendedState)
• sys_status (mavros_msgs::msg::SysStatus)
• estimator_status (mavros_msgs::msg::EstimatorStatus)
• battery (BatteryMsg)
• statustext/recv (mavros_msgs::msg::StatusText)
• status_event (mavros_msgs::msg::StatusEvent)

Subscribers

• statustext/send (mavros_msgs::msg::StatusText)

Services

• set_mode (mavros_msgs::srv::SetMode)
• set_stream_rate (mavros_msgs::srv::StreamRate)
• set_message_interval (mavros_msgs::srv::MessageInterval)
• vehicle_info_get (mavros_msgs::srv::VehicleInfoGet)

Clients

• cmd/command (mavros_msgs::srv::CommandLong)

Parameters

• conn_timeout [type: double, default: 10.0]
• min_voltage [default: std::vector<double>({10.0})]
• disable_diag [type: bool, default: false]
• heartbeat_mav_type [default: utils::enum_to_name( conn_heartbeat_mav_type)]
• heartbeat_rate [type: double, default: 1.0]

MAVLink Subscriptions

• HEARTBEAT [handler: handle_heartbeat, dialect: minimal, msg_id: 0, id: mavlink::minimal::msg::HEARTBEAT::MSG_ID]
• SYS_STATUS [handler: handle_sys_status, dialect: common, msg_id: 1, id: mavlink::common::msg::SYS_STATUS::MSG_ID]
• STATUSTEXT [handler: handle_statustext, dialect: common, msg_id: 253, id: mavlink::common::msg::STATUSTEXT::MSG_ID]
• EVENT [handler: handle_event, dialect: common, msg_id: 410, id: mavlink::common::msg::EVENT::MSG_ID]
• MEMINFO [handler: handle_meminfo, dialect: ardupilotmega, msg_id: 152, id: mavlink::ardupilotmega::msg::MEMINFO::MSG_ID]
• HWSTATUS [handler: handle_hwstatus, dialect: ardupilotmega, msg_id: 165, id: mavlink::ardupilotmega::msg::HWSTATUS::MSG_ID]
• AUTOPILOT_VERSION [handler: handle_autopilot_version, dialect: standard, msg_id: 148, id: mavlink::standard::msg::AUTOPILOT_VERSION::MSG_ID]
• EXTENDED_SYS_STATE [handler: handle_extended_sys_state, dialect: common, msg_id: 245, id: mavlink::common::msg::EXTENDED_SYS_STATE::MSG_ID]
• BATTERY_STATUS [handler: handle_battery_status, dialect: common, msg_id: 147, id: mavlink::common::msg::BATTERY_STATUS::MSG_ID]
• ESTIMATOR_STATUS [handler: handle_estimator_status, dialect: common, msg_id: 230, id: mavlink::common::msg::ESTIMATOR_STATUS::MSG_ID]

MAVLink Publications

• HEARTBEAT [arg: hb, dialect: minimal, msg_id: 0, id: mavlink::minimal::msg::HEARTBEAT::MSG_ID]
• STATUSTEXT [arg: statustext, dialect: common, msg_id: 253, id: mavlink::common::msg::STATUSTEXT::MSG_ID]
• REQUEST_DATA_STREAM [arg: rq, dialect: common, msg_id: 66, id: mavlink::common::msg::REQUEST_DATA_STREAM::MSG_ID]
• SET_MODE [arg: sm, dialect: common, msg_id: 11, id: mavlink::common::msg::SET_MODE::MSG_ID]