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4
docs/en/msg_docs/ConfigOverrides.md
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@@ -6,7 +6,7 @@ pageClass: is-wide-page
Configurable overrides by (external) modes or mode executors.
**TOPICS:** config_overrides config_overrides_request
**TOPICS:** config_overrides config_overrides_request config_overrides_confirm
## Fields
@@ -56,7 +56,7 @@ uint8 source_id # ID depending on source_type
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS config_overrides config_overrides_request
# TOPICS config_overrides config_overrides_request config_overrides_confirm
```
:::

4
docs/en/msg_docs/RegisterExtComponentRequest.md
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@@ -30,7 +30,7 @@ Request to register an external component.
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 2 |
| <a id="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
| <a id="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 2 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 |
## Source Message
@@ -49,7 +49,7 @@ uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID, set this to a random value
char[25] name # either the requested mode name, or component name
uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
uint16 LATEST_PX4_ROS2_API_VERSION = 2 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION

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docs/en/msg_docs/SetpointConfig.md Normal file
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---
pageClass: is-wide-page
---
# SetpointConfig (UORB message)
Setpoint configuration message.
Published by external modes and PX4 will respond with SetpointConfigReply.
**TOPICS:** setpoint_config
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------- | -------- | ------------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_type"></a>type | `uint16` | | [TYPE](#TYPE) | setpoint type (corresponding to one or more setpoint messages) |
| <a id="fld_source_id"></a>source_id | `uint8` | | | nav_state of the mode |
| <a id="fld_should_apply"></a>should_apply | `bool` | | | if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). |
| <a id="fld_timeout_ms"></a>timeout_ms | `uint16` | | | Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). |
## Enums
### TYPE {#TYPE}
Used in field(s): [type](#fld_type)
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------- |
| <a id="#TYPE_INVALID"></a> TYPE_INVALID | `uint16` | 0 |
| <a id="#TYPE_DIRECT_ACTUATORS"></a> TYPE_DIRECT_ACTUATORS | `uint16` | 1 | ActuatorMotors and ActuatorServos |
| <a id="#TYPE_MULTICOPTER_GOTO"></a> TYPE_MULTICOPTER_GOTO | `uint16` | 2 | GotoSetpoint |
| <a id="#TYPE_FIXEDWING_LATERAL_LONGITUDINAL"></a> TYPE_FIXEDWING_LATERAL_LONGITUDINAL | `uint16` | 3 | FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint |
| <a id="#TYPE_TRAJECTORY"></a> TYPE_TRAJECTORY | `uint16` | 4 | TrajectorySetpoint |
| <a id="#TYPE_RATES"></a> TYPE_RATES | `uint16` | 5 | VehicleRatesSetpoint |
| <a id="#TYPE_ATTITUDE"></a> TYPE_ATTITUDE | `uint16` | 6 | VehicleAttitudeSetpoint |
| <a id="#TYPE_ROVER_POSITION"></a> TYPE_ROVER_POSITION | `uint16` | 7 | RoverPositionSetpoint |
| <a id="#TYPE_ROVER_SPEED_ATTITUDE"></a> TYPE_ROVER_SPEED_ATTITUDE | `uint16` | 8 | RoverSpeedSetpoint and RoverAttitudeSetpoint |
| <a id="#TYPE_ROVER_SPEED_RATE"></a> TYPE_ROVER_SPEED_RATE | `uint16` | 9 | RoverSpeedSetpoint and RoverRateSetpoint |
| <a id="#TYPE_ROVER_SPEED_STEERING"></a> TYPE_ROVER_SPEED_STEERING | `uint16` | 10 | RoverSpeedSetpoint and RoverSteeringSetpoint |
| <a id="#TYPE_ROVER_THROTTLE_ATTITUDE"></a> TYPE_ROVER_THROTTLE_ATTITUDE | `uint16` | 11 | RoverThrottleSetpoint and RoverAttitudeSetpoint |
| <a id="#TYPE_ROVER_THROTTLE_RATE"></a> TYPE_ROVER_THROTTLE_RATE | `uint16` | 12 | RoverThrottleSetpoint and RoverRateSetpoint |
| <a id="#TYPE_ROVER_THROTTLE_STEERING"></a> TYPE_ROVER_THROTTLE_STEERING | `uint16` | 13 | RoverThrottleSetpoint and RoverSteeringSetpoint |
| <a id="#TYPE_TRAJECTORY_6DOF"></a> TYPE_TRAJECTORY_6DOF | `uint16` | 14 | TrajectorySetpoint6dof |
| <a id="#TYPE_THRUST_AND_TORQUE"></a> TYPE_THRUST_AND_TORQUE | `uint16` | 15 | VehicleThrustSetpoint and VehicleTorqueSetpoint |
| <a id="#TYPE_POSITION_TRIPLET"></a> TYPE_POSITION_TRIPLET | `uint16` | 16 | PositionSetpointTriplet |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfig.msg)
::: details Click here to see original file
```c
# Setpoint configuration message
#
# Published by external modes and PX4 will respond with SetpointConfigReply.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint16 TYPE_INVALID = 0
uint16 TYPE_DIRECT_ACTUATORS = 1 # ActuatorMotors and ActuatorServos
uint16 TYPE_MULTICOPTER_GOTO = 2 # GotoSetpoint
uint16 TYPE_FIXEDWING_LATERAL_LONGITUDINAL = 3 # FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint
uint16 TYPE_TRAJECTORY = 4 # TrajectorySetpoint
uint16 TYPE_RATES = 5 # VehicleRatesSetpoint
uint16 TYPE_ATTITUDE = 6 # VehicleAttitudeSetpoint
uint16 TYPE_ROVER_POSITION = 7 # RoverPositionSetpoint
uint16 TYPE_ROVER_SPEED_ATTITUDE = 8 # RoverSpeedSetpoint and RoverAttitudeSetpoint
uint16 TYPE_ROVER_SPEED_RATE = 9 # RoverSpeedSetpoint and RoverRateSetpoint
uint16 TYPE_ROVER_SPEED_STEERING = 10 # RoverSpeedSetpoint and RoverSteeringSetpoint
uint16 TYPE_ROVER_THROTTLE_ATTITUDE = 11 # RoverThrottleSetpoint and RoverAttitudeSetpoint
uint16 TYPE_ROVER_THROTTLE_RATE = 12 # RoverThrottleSetpoint and RoverRateSetpoint
uint16 TYPE_ROVER_THROTTLE_STEERING = 13 # RoverThrottleSetpoint and RoverSteeringSetpoint
uint16 TYPE_TRAJECTORY_6DOF = 14 # TrajectorySetpoint6dof
uint16 TYPE_THRUST_AND_TORQUE = 15 # VehicleThrustSetpoint and VehicleTorqueSetpoint
uint16 TYPE_POSITION_TRIPLET = 16 # PositionSetpointTriplet
uint16 type # [@enum TYPE] setpoint type (corresponding to one or more setpoint messages)
uint8 source_id # nav_state of the mode
bool should_apply # if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration).
uint16 timeout_ms # Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks).
```
:::

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docs/en/msg_docs/SetpointConfigReply.md Normal file
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---
pageClass: is-wide-page
---
# SetpointConfigReply (UORB message)
Reply to SetpointConfig.
**TOPICS:** setpoint_config_reply
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------- | -------- | ------------ | ----------------- | -------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_type"></a>type | `uint16` | | | See SetpointConfig::TYPE\_\* |
| <a id="fld_source_id"></a>source_id | `uint8` | | | nav_state of the mode that sent the SetpointConfig |
| <a id="fld_result"></a>result | `uint8` | | [RESULT](#RESULT) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | |
## Enums
### RESULT {#RESULT}
Used in field(s): [result](#fld_result)
| Name | Type | Value | Description |
| ----------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- |
| <a id="#RESULT_SUCCESS"></a> RESULT_SUCCESS | `uint8` | 0 |
| <a id="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER | `uint8` | 1 |
| <a id="#RESULT_UNSUPPORTED"></a> RESULT_UNSUPPORTED | `uint8` | 2 | Setpoint type is unsupported for the current vehicle |
| <a id="#RESULT_UNKNOWN_SETPOINT_TYPE"></a> RESULT_UNKNOWN_SETPOINT_TYPE | `uint8` | 3 | The setpoint type is not known |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfigReply.msg)
::: details Click here to see original file
```c
# Reply to SetpointConfig
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint16 type # See SetpointConfig::TYPE_*
uint8 source_id # nav_state of the mode that sent the SetpointConfig
uint8 RESULT_SUCCESS = 0
uint8 RESULT_FAILURE_OTHER = 1
uint8 RESULT_UNSUPPORTED = 2 # Setpoint type is unsupported for the current vehicle
uint8 RESULT_UNKNOWN_SETPOINT_TYPE = 3 # The setpoint type is not known
uint8 result # [@enum RESULT]
# Mode requirements for using the given setpoint type. A mode will use these and apply them to the arming check reply (PX4 does not do that itself).
# Certain setpoint types can be used in a reduced way, for example a TrajectorySetpoint without position control. In that case PX4 still sets all requirement flags, and the mode will then ignore mode_req_local_position.
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
```
:::

24
docs/en/msg_docs/VehicleControlMode.md
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@@ -4,7 +4,9 @@ pageClass: is-wide-page
# VehicleControlMode (UORB message)
**TOPICS:** vehicle_control_mode config_control_setpoints
Defines which controllers should run.
**TOPICS:** vehicle_control_mode
## Fields
@@ -20,27 +22,18 @@ pageClass: is-wide-page
| <a id="fld_flag_control_velocity_enabled"></a>flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled |
| <a id="fld_flag_control_altitude_enabled"></a>flag_control_altitude_enabled | `bool` | | | true if altitude is controlled |
| <a id="fld_flag_control_climb_rate_enabled"></a>flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled |
| <a id="fld_flag_control_acceleration_enabled"></a>flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled |
| <a id="fld_flag_control_attitude_enabled"></a>flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in |
| <a id="fld_flag_control_rates_enabled"></a>flag_control_rates_enabled | `bool` | | | true if rates are stabilized |
| <a id="fld_flag_control_allocation_enabled"></a>flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled |
| <a id="fld_flag_control_termination_enabled"></a>flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled |
| <a id="fld_source_id"></a>source_id | `uint8` | | | Mode ID (nav_state) |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg)
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg)
::: details Click here to see original file
```c
uint32 MESSAGE_VERSION = 0
# Defines which controllers should run
uint64 timestamp # time since system start (microseconds)
bool flag_armed # synonym for actuator_armed.armed
@@ -54,16 +47,9 @@ bool flag_control_position_enabled # true if position is controlled
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_altitude_enabled # true if altitude is controlled
bool flag_control_climb_rate_enabled # true if climb rate is controlled
bool flag_control_acceleration_enabled # true if acceleration is controlled
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_allocation_enabled # true if control allocation is enabled
bool flag_control_termination_enabled # true if flighttermination is enabled
# TODO: use dedicated topic for external requests
uint8 source_id # Mode ID (nav_state)
# TOPICS vehicle_control_mode config_control_setpoints
```
:::

5
docs/en/msg_docs/index.md
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@@ -36,6 +36,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RaptorStatus](RaptorStatus.md) — Raptor Status.
- [RegisterExtComponentReply](RegisterExtComponentReply.md)
- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component.
- [SetpointConfig](SetpointConfig.md) — Setpoint configuration message.
- [SetpointConfigReply](SetpointConfigReply.md) — Reply to SetpointConfig.
- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled.
- [UnregisterExtComponent](UnregisterExtComponent.md)
- [VehicleAngularVelocity](VehicleAngularVelocity.md)
@@ -43,7 +45,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message.
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLandDetected](VehicleLandDetected.md)
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
@@ -277,8 +278,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
- [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md) — Vehicle air data.
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
- [VehicleControlMode](VehicleControlMode.md) — Defines which controllers should run.
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
- [VehicleImuStatus](VehicleImuStatus.md)
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.