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docs/en/msg_docs/DronecanNodeStatus.md
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@@ -1,6 +1,42 @@
---
pageClass: is-wide-page
---
# DronecanNodeStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
**TOPICS:** dronecan_nodestatus
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| node_id | `uint16` | | | The node ID which this data comes from |
| uptime_sec | `uint32` | | | Node uptime |
| health | `uint8` | | |
| mode | `uint8` | | |
| sub_mode | `uint8` | | |
| vendor_specific_status_code | `uint16` | | |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------- |
| <a href="#HEALTH_OK"></a> HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
| <a href="#HEALTH_WARNING"></a> HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
| <a href="#HEALTH_ERROR"></a> HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
| <a href="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
| <a href="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
| <a href="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
| <a href="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
| <a href="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
| <a href="#MODE_OFFLINE"></a> MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -44,5 +80,6 @@ uint8 sub_mode
# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
#
uint16 vendor_specific_status_code
```
:::