uint64 timestamp # time since system start (microseconds)

uint8 request_id
uint8 registration_id

uint8 HEALTH_COMPONENT_INDEX_NONE = 0
uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19

uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
bool health_component_is_present
bool health_component_warning
bool health_component_error

bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run

uint8 num_events

Event[5] events

# Mode requirements
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
bool mode_req_local_position_relaxed
bool mode_req_global_position
bool mode_req_mission
bool mode_req_home_position
bool mode_req_prevent_arming
bool mode_req_manual_control


uint8 ORB_QUEUE_LENGTH = 4