# 遥测状态（UORB 报文）
uint8 LINK_TYPE_GENERIC = 0
uint8 LINK_TYPE_UBIQUITY_BULLET = 1
uint8 LINK_TYPE_WIRE = 2
uint8 LINK_TYPE_USB = 3
uint8 LINK_TYPE_IRIDIUM = 4
uint64 timestamp # 系统运行以来的时间 启动 (微秒)
uint8 type # 无线电类型 硬件 (LINK_TYPE_*)
uint8 mode bool flow_control bool forwarding bool mavlink_v2 bool ftp uint8 streams float32 data_rate # 配置的最大数据量 费率 (字节/s)
float32 rate_multiplier float32 tx_rate_avg # 发送速率 平均数 (字节/s)
float32 tx_error_rate_avg # 发送错误率 平均数 (字节/s)
uint32 tx_message_count # 已发送信息总数 uint32 tx_buffer_overruns # 发射缓冲区超限次数 float32 rx_rate_avg # 发送速率 平均数 (字节/s)
uint32 rx_message_count # 接收到的信息总数 uint32 rx_message_lost_count uint32 rx_buffer_overruns # RX 缓冲区超限次数 uint32 rx_parse_errors # 解析错误次数 uint32 rx_packet_drop_count # 丢弃数据包次数 float32 rx_message_lost_rate uint64 HEARTBEAT_TIMEOUT_US = 2500000 # 心跳 超时 (容缺 1 + 抖动)
# 每种类型的心跳
bool heartbeat_type_antenna_tracker # MAV_TYPE_ANTENNA_TRACKER bool heartbeat_type_gcs # MAV_TYPE_GCS bool heartbeat_type_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER boolheartbeat_type_gimbal # MAV_TYPE_GIMBAL bool heartbeat_type_adsb # MAV_TYPE_ADSB bool heartbeat_type_camera # MAV_TYPE_CAMERA bool heartbeat_type_parachute # MAV_TYPE_PARACHUTE
# 每个组件的心跳
bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO bool heartbeat_component_log # MAV_COMP_ID_LOG bool heartbeat_component_osd # MAV_COMP_ID_OSD bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE boolheartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
# 杂项组件健康
bool avoidance_system_healthy bool parachute_system_healthy