# UAVCAN教程（10）节点状态获取和节点发现

## uavcan提供的获取节点状态信息的消息类型

uavcan规定每个节点都必须通过广播uavcan.protocol.NodeStatus消息来它的状态和存在。这也是uavcan对节点需要广播的消息的唯一要求。

#
# Abstract node status information.
#
# Any UAVCAN node is required to publish this message periodically.
#

#
# Publication period may vary within these limits.
# It is NOT recommended to change it at run time.
#

#
# If a node fails to publish this message in this amount of time, it should be considered offline.
#
uint16 OFFLINE_TIME