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