PX4-Autopilot/docs/zh/msg_docs/MessageFormatRequest.md

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MessageFormatRequest (UORB message)

TOPICS: message_format_request

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
protocol_version	uint16			Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp
topic_name	char[50]			E.g. /fmu/in/vehicle_command

Constants

参数名	类型	值	描述
LATEST_PROTOCOL_VERSION	uint16	1	Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes.

Source Message

Source file (GitHub)

:::details Click here to see original file

uint64 timestamp # time since system start (microseconds)

# Request to PX4 to get the hash of a message, to check for message compatibility

uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes.

uint16 protocol_version           # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp

char[50] topic_name  # E.g. /fmu/in/vehicle_command

:::