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59 lines
3.5 KiB
Markdown
59 lines
3.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# UlogStream (повідомлення UORB)
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Повідомлення для потоку даних ULog з пристрою реєстрування. Corresponds to the LOGGING_DATA. mavlink message.
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**TOPICS:** ulog_stream
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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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| length | `uint8` | | | length of data |
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| first_message_offset | `uint8` | | | offset into data where first message starts. This |
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| msg_sequence | `uint16` | | | allows determine drops |
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| flags | `uint8` | | | see FLAGS\_\* |
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| data | `uint8[249]` | | | ulog data |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ----------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ |
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| <a id="#FLAGS_NEED_ACK"></a> FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStream.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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# Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA
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# mavlink message
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uint64 timestamp # time since system start (microseconds)
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# flags bitmasks
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uint8 FLAGS_NEED_ACK = 1 # if set, this message requires to be acked.
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# Acked messages are published synchronous: a
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# publisher waits for an ack before sending the
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# next message
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uint8 length # length of data
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uint8 first_message_offset # offset into data where first message starts. This
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# can be used for recovery, when a previous message got lost
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uint16 msg_sequence # allows determine drops
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uint8 flags # see FLAGS_*
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uint8[249] data # ulog data
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uint8 ORB_QUEUE_LENGTH = 16 # TODO: we might be able to reduce this if mavlink polled on the topic
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```
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:::
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