---
pageClass: is-wide-page
---

# HeaterStatus (UORB message)

**TOPICS:** heater_status

## Fields

| Name                    | Type      | Unit [Frame] | Range/Enum | Description                            |
| ----------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp               | `uint64`  |              |            | time since system start (microseconds) |
| device_id               | `uint32`  |              |            |
| heater_on               | `bool`    |              |            |
| temperature_target_met  | `bool`    |              |            |
| temperature_sensor      | `float32` |              |            |
| temperature_target      | `float32` |              |            |
| controller_period_usec  | `uint32`  |              |            |
| controller_time_on_usec | `uint32`  |              |            |
| proportional_value      | `float32` |              |            |
| integrator_value        | `float32` |              |            |
| feed_forward_value      | `float32` |              |            |
| mode                    | `uint8`   |              |            |

## Constants

| Name                                | Type    | Value | Description |
| ----------------------------------- | ------- | ----- | ----------- |
| <a id="#MODE_GPIO"></a> MODE_GPIO   | `uint8` | 1     |
| <a id="#MODE_PX4IO"></a> MODE_PX4IO | `uint8` | 2     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg)

::: details Click here to see original file

```c
uint64 timestamp	# time since system start (microseconds)

uint32 device_id

bool heater_on
bool temperature_target_met

float32 temperature_sensor
float32 temperature_target

uint32 controller_period_usec
uint32 controller_time_on_usec

float32 proportional_value
float32 integrator_value
float32 feed_forward_value

uint8 MODE_GPIO  = 1
uint8 MODE_PX4IO = 2
uint8 mode
```

:::