uint64 timestamp # time since system start (microseconds)

uint16 node_id # The node ID which this data comes from

# From the uavcan.protocol.NodeStatus message

uint32 uptime_sec # Node uptime

#

# Abstract node health.

#

uint8 HEALTH_OK = 0 # The node is functioning properly.

uint8 HEALTH_WARNING = 1 # A critical parameter went out of range or the node encountered a minor failure.

uint8 HEALTH_ERROR = 2 # The node encountered a major failure.

uint8 HEALTH_CRITICAL = 3 # The node suffered a fatal malfunction.

uint8 health

#

# Current mode.

#

# Mode OFFLINE 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.

#

# Reserved values can be used in future revisions of the specification.

#

uint8 MODE_OPERATIONAL = 0 # Normal operating mode.

uint8 MODE_INITIALIZATION = 1 # Initialization is in progress; this mode is entered immediately after startup.

uint8 MODE_MAINTENANCE = 2 # E.g. calibration, the bootloader is running, etc.

uint8 MODE_SOFTWARE_UPDATE = 3 # New software/firmware is being loaded.

uint8 MODE_OFFLINE = 7 # The node is no longer available.

uint8 mode

#

# Not used currently, keep zero when publishing, ignore when receiving.

#

uint8 sub_mode

#

# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.

#

uint16 vendor_specific_status_code