px4-firmware/msg/MessageFormatRequest.msg

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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