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https://github.com/PX4/PX4-Autopilot.git
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8.0 KiB
8.0 KiB
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TelemetryStatus (UORB message)
TOPICS: telemetry_status
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 |
time since system start (microseconds) | ||
| type | uint8 |
type of the radio hardware (LINKTYPE*) | ||
| mode | uint8 |
|||
| flow_control | bool |
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| forwarding | bool |
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| mavlink_v2 | bool |
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| ftp | bool |
|||
| streams | uint8 |
|||
| data_rate | float32 |
configured maximum data rate (Bytes/s) | ||
| rate_multiplier | float32 |
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| tx_rate_avg | float32 |
transmit rate average (Bytes/s) | ||
| tx_error_rate_avg | float32 |
transmit error rate average (Bytes/s) | ||
| tx_message_count | uint32 |
total message sent count | ||
| tx_buffer_overruns | uint32 |
number of TX buffer overruns | ||
| rx_rate_avg | float32 |
transmit rate average (Bytes/s) | ||
| rx_message_count | uint32 |
count of total messages received | ||
| rx_message_lost_count | uint32 |
|||
| rx_buffer_overruns | uint32 |
number of RX buffer overruns | ||
| rx_parse_errors | uint32 |
number of parse errors | ||
| rx_packet_drop_count | uint32 |
number of packet drops | ||
| rx_message_lost_rate | float32 |
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| heartbeat_type_antenna_tracker | bool |
MAV_TYPE_ANTENNA_TRACKER | ||
| heartbeat_type_gcs | bool |
MAV_TYPE_GCS | ||
| heartbeat_type_onboard_controller | bool |
MAV_TYPE_ONBOARD_CONTROLLER | ||
| heartbeat_type_gimbal | bool |
MAV_TYPE_GIMBAL | ||
| heartbeat_type_adsb | bool |
MAV_TYPE_ADSB | ||
| heartbeat_type_flarm | bool |
MAV_TYPE_FLARM | ||
| heartbeat_type_camera | bool |
MAV_TYPE_CAMERA | ||
| heartbeat_type_parachute | bool |
MAV_TYPE_PARACHUTE | ||
| heartbeat_type_open_drone_id | bool |
MAV_TYPE_ODID | ||
| heartbeat_component_telemetry_radio | bool |
MAV_COMP_ID_TELEMETRY_RADIO | ||
| heartbeat_component_log | bool |
MAV_COMP_ID_LOG | ||
| heartbeat_component_osd | bool |
MAV_COMP_ID_OSD | ||
| heartbeat_component_vio | bool |
MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY | ||
| heartbeat_component_pairing_manager | bool |
MAV_COMP_ID_PAIRING_MANAGER | ||
| heartbeat_component_udp_bridge | bool |
MAV_COMP_ID_UDP_BRIDGE | ||
| heartbeat_component_uart_bridge | bool |
MAV_COMP_ID_UART_BRIDGE | ||
| open_drone_id_system_healthy | bool |
|||
| parachute_system_healthy | bool |
Constants
Source Message
::: details Click here to see original file
uint8 LINK_TYPE_GENERIC = 0
uint8 LINK_TYPE_UBIQUITY_BULLET = 1
uint8 LINK_TYPE_WIRE = 2
uint8 LINK_TYPE_USB = 3
uint8 LINK_TYPE_IRIDIUM = 4
uint64 timestamp # time since system start (microseconds)
uint8 type # type of the radio hardware (LINK_TYPE_*)
uint8 mode
bool flow_control
bool forwarding
bool mavlink_v2
bool ftp
uint8 streams
float32 data_rate # configured maximum data rate (Bytes/s)
float32 rate_multiplier
float32 tx_rate_avg # transmit rate average (Bytes/s)
float32 tx_error_rate_avg # transmit error rate average (Bytes/s)
uint32 tx_message_count # total message sent count
uint32 tx_buffer_overruns # number of TX buffer overruns
float32 rx_rate_avg # transmit rate average (Bytes/s)
uint32 rx_message_count # count of total messages received
uint32 rx_message_lost_count
uint32 rx_buffer_overruns # number of RX buffer overruns
uint32 rx_parse_errors # number of parse errors
uint32 rx_packet_drop_count # number of packet drops
float32 rx_message_lost_rate
uint64 HEARTBEAT_TIMEOUT_US = 2500000 # Heartbeat timeout (tolerate missing 1 + jitter)
# Heartbeats per type
bool heartbeat_type_antenna_tracker # MAV_TYPE_ANTENNA_TRACKER
bool heartbeat_type_gcs # MAV_TYPE_GCS
bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
bool heartbeat_type_gimbal # MAV_TYPE_GIMBAL
bool heartbeat_type_adsb # MAV_TYPE_ADSB
bool heartbeat_type_flarm # MAV_TYPE_FLARM
bool heartbeat_type_camera # MAV_TYPE_CAMERA
bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
# Heartbeats per component
bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
bool heartbeat_component_log # MAV_COMP_ID_LOG
bool heartbeat_component_osd # MAV_COMP_ID_OSD
bool heartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
# Misc component health
bool open_drone_id_system_healthy
bool parachute_system_healthy
:::