mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
e389d6ffbb
- try to handle mavlink system validity and present checks more consistently - telemetry_status unify heartbeats and healthy flags across MAV_TYPE and MAV_COMPONENT (once it's outside of mavlink we don't care about the difference) - add gimbal
75 lines
2.6 KiB
Plaintext
75 lines
2.6 KiB
Plaintext
uint8 LINK_TYPE_GENERIC = 0
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uint8 LINK_TYPE_UBIQUITY_BULLET = 1
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uint8 LINK_TYPE_WIRE = 2
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uint8 LINK_TYPE_USB = 3
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uint8 LINK_TYPE_IRIDIUM = 4
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uint64 timestamp # time since system start (microseconds)
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uint8 type # type of the radio hardware (LINK_TYPE_*)
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uint8 mode
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bool flow_control
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bool forwarding
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bool mavlink_v2
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bool ftp
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uint8 streams
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float32 data_rate # configured maximum data rate (Bytes/s)
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float32 rate_multiplier
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float32 tx_rate_avg # transmit rate average (Bytes/s)
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float32 tx_error_rate_avg # transmit error rate average (Bytes/s)
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uint32 tx_message_count # total message sent count
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uint32 tx_buffer_overruns # number of TX buffer overruns
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float32 rx_rate_avg # transmit rate average (Bytes/s)
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uint32 rx_message_count # count of total messages received
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uint32 rx_message_lost_count
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uint32 rx_buffer_overruns # number of RX buffer overruns
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uint32 rx_parse_errors # number of parse errors
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uint32 rx_packet_drop_count # number of packet drops
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float32 rx_message_lost_rate
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uint64 HEARTBEAT_TIMEOUT_US = 1500000 # Heartbeat timeout 1.5 seconds
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# Heartbeats
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bool heartbeat_adsb # MAV_TYPE_ADSB
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bool heartbeat_antenna_tracker # MAV_TYPE_ANTENNA_TRACKER
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bool heartbeat_battery # MAV_TYPE_BATTERY
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bool heartbeat_camera # MAV_TYPE_CAMERA
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bool heartbeat_gcs # MAV_TYPE_GCS
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bool heartbeat_gimbal # MAV_TYPE_GIMBAL
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bool heartbeat_log # MAV_COMP_ID_LOG
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bool heartbeat_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
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bool heartbeat_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
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bool heartbeat_osd # MAV_COMP_ID_OSD
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bool heartbeat_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
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bool heartbeat_parachute # MAV_TYPE_PARACHUTE
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bool heartbeat_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
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bool heartbeat_uart_bridge # MAV_COMP_ID_UART_BRIDGE
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bool heartbeat_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
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bool heartbeat_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
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# system status healthy
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bool system_healthy_adsb
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bool system_healthy_antenna_tracker
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bool system_healthy_battery
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bool system_healthy_camera
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bool system_healthy_gcs
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bool system_healthy_gimbal
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bool system_healthy_log
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bool system_healthy_obstacle_avoidance
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bool system_healthy_onboard_controller
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bool system_healthy_osd
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bool system_healthy_pairing_manager
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bool system_healthy_parachute
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bool system_healthy_telemetry_radio
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bool system_healthy_uart_bridge
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bool system_healthy_udp_bridge
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bool system_healthy_vio
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