vehicle_status.hpp

/****************************************************************************
 * Copyright (c) 2023-2024 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/vehicle_status.hpp>
#include <px4_ros2/common/context.hpp>
#include <px4_ros2/utils/subscription.hpp>
#include <px4_ros2/utils/message_version.hpp>
 
namespace px4_ros2
{
class VehicleStatus : public Subscription<px4_msgs::msg::VehicleStatus>
{
public:
  explicit VehicleStatus(Context & context)
  : Subscription<px4_msgs::msg::VehicleStatus>(context,
      "fmu/out/vehicle_status" + px4_ros2::getMessageNameVersion<px4_msgs::msg::VehicleStatus>()) {}
 
  bool armed() const
  {
    return last().arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED;
  }
 
  uint8_t navState() const
  {
    return last().nav_state;
  }
 
};
 
} /* namespace px4_ros2 */