mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 09:33:34 +08:00
28 lines
1.1 KiB
Plaintext
28 lines
1.1 KiB
Plaintext
#
|
|
# Abstract node status information.
|
|
# Any UAVCAN node is required to publish this message periodically.
|
|
#
|
|
|
|
uint16 MAX_PUBLICATION_PERIOD_MS = 1000
|
|
uint16 MIN_PUBLICATION_PERIOD_MS = 20
|
|
|
|
# If a node fails to publish this message in this amount of time, it should be considered offline.
|
|
uint16 OFFLINE_TIMEOUT_MS = 3000
|
|
|
|
# Uptime counter should never overflow.
|
|
uint28 uptime_sec
|
|
|
|
# Status code should be used to reflect the node status in the most abstract way.
|
|
# Use cases: top-level onboard computer should not allow the UAV to begin normal operation
|
|
# unless all nodes report OK. If a mission critical node reports CRITICAL status, current
|
|
# mission should be immediately yet safely aborted (e.g. RTL).
|
|
# OFFLINE status can be actually reported by the node to explicitly inform other network
|
|
# participants that the sending node is about to shutdown. In this case other nodes will not
|
|
# have to wait OFFLINE_TIMEOUT_MS before they detect that the node is no longer available.
|
|
uint4 STATUS_OK = 0
|
|
uint4 STATUS_INITIALIZING = 1
|
|
uint4 STATUS_WARNING = 2
|
|
uint4 STATUS_CRITICAL = 3
|
|
uint4 STATUS_OFFLINE = 15
|
|
uint4 status_code
|