PX4-Autopilot/docs/en/msg_docs/index.md

uORB Message Reference

::: info This list is auto-generated from the source code. :::

This topic lists the UORB messages available in PX4 (some of which may be may be shared by the PX4-ROS 2 Bridge).

Versioned messages track changes to their definitions, with each modification resulting in a version increment. These messages are most likely shared through the PX4-ROS 2 Bridge.

Graphs showing how these are used can be found here.

Versioned Messages

Current Versions

• ActuatorMotors — Motor control message.
• ActuatorServos — Servo control message.
• AirspeedValidated — Validated airspeed.
• ArmingCheckReply — Arming check reply.
• ArmingCheckRequest — Arming check request.
• AuxGlobalPosition — Auxiliary global position.
• BatteryStatus — Battery status.
• ConfigOverrides — Configurable overrides by (external) modes or mode executors.
• Event — Events interface.
• FixedWingLateralSetpoint — Fixed Wing Lateral Setpoint message.
• FixedWingLongitudinalSetpoint — Fixed Wing Longitudinal Setpoint message.
• GotoSetpoint — Position and (optional) heading setpoints with corresponding speed constraints.
• HomePosition — GPS home position in WGS84 coordinates.
• LateralControlConfiguration — Fixed Wing Lateral Control Configuration message.
• LongitudinalControlConfiguration — Fixed Wing Longitudinal Control Configuration message.
• ManualControlSetpoint
• ModeCompleted — Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
• RaptorInput — Raptor Input.
• RaptorStatus — Raptor Status.
• RegisterExtComponentReply
• RegisterExtComponentRequest — Request to register an external component.
• TrajectorySetpoint — 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
• VehicleAngularVelocity
• VehicleAttitude — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z).
• VehicleAttitudeSetpoint
• VehicleCommand — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
• VehicleCommandAck — Vehicle Command Acknowledgement uORB message.
• VehicleControlMode
• VehicleGlobalPosition — 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
• VehicleLocalPosition — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
• VehicleOdometry — Vehicle odometry data.
• VehicleRatesSetpoint
• VehicleStatus — Encodes the system state of the vehicle published by commander.
• VtolVehicleStatus — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
• Wind — Wind estimate (from EKF2).

Historic Versions

• ActuatorServosV0 — Servo control message.
• AirspeedValidatedV0
• ArmingCheckReplyV0
• ArmingCheckRequestV0 — Arming check request.
• BatteryStatusV0 — Battery status.
• ConfigOverridesV0 — Configurable overrides by (external) modes or mode executors.
• EventV0 — this message is required here in the msg_old folder because other msg are depending on it. Events interface.
• HomePositionV0 — GPS home position in WGS84 coordinates.
• RegisterExtComponentReplyV0
• RegisterExtComponentRequestV0 — Request to register an external component.
• RegisterExtComponentRequestV1 — Request to register an external component.
• VehicleAttitudeSetpointV0
• VehicleCommandAckV0 — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
• VehicleGlobalPositionV0 — 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.
• VehicleLocalPositionV0 — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
• VehicleStatusV0 — Encodes the system state of the vehicle published by commander.
• VehicleStatusV1 — Encodes the system state of the vehicle published by commander.
• VehicleStatusV2 — Encodes the system state of the vehicle published by commander.
• VehicleStatusV3 — Encodes the system state of the vehicle published by commander.

Unversioned Messages

• ActionRequest — Action request for the vehicle's main state.
• ActuatorArmed
• ActuatorControlsStatus
• ActuatorOutputs
• ActuatorServosTrim — Servo trims, added as offset to servo outputs.
• ActuatorTest
• AdcReport — ADC raw data.
• Airspeed — Airspeed data from sensors.
• AirspeedWind — Wind estimate (from airspeed_selector).
• AutotuneAttitudeControlStatus — Autotune attitude control status.
• BatteryInfo — Battery information.
• ButtonEvent
• CameraCapture
• CameraStatus
• CameraTrigger
• CanInterfaceStatus
• CellularStatus — Cellular status.
• CollisionConstraints — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
• ControlAllocatorStatus
• Cpuload
• DatamanRequest
• DatamanResponse
• DebugArray
• DebugKeyValue
• DebugValue
• DebugVect
• DeviceInformation — Device information.
• DifferentialPressure — Differential-pressure (airspeed) sensor.
• DistanceSensor — DISTANCE_SENSOR message data.
• DistanceSensorModeChangeRequest
• DronecanNodeStatus
• Ekf2Timestamps — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
• EscEepromRead
• EscEepromWrite
• EscReport
• EscStatus
• EstimatorAidSource1d
• EstimatorAidSource2d
• EstimatorAidSource3d
• EstimatorBias
• EstimatorBias3d
• EstimatorEventFlags
• EstimatorFusionControl
• EstimatorGpsStatus
• EstimatorInnovations
• EstimatorSelectorStatus
• EstimatorSensorBias — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
• EstimatorStates
• EstimatorStatus
• EstimatorStatusFlags
• FailsafeFlags — Input flags for the failsafe state machine set by the arming & health checks.
• FailureDetectorStatus
• FiducialMarkerPosReport — Relative position of a precision-landing target detected by a vision pipeline (e.g. an ArUco marker).
• FiducialMarkerYawReport — Yaw of a precision-landing target relative to the NED (North, East, Down) frame, reported by a vision pipeline.
• FigureEightStatus
• FixedWingLateralGuidanceStatus — Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
• FixedWingLateralStatus — Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
• FixedWingRunwayControl — Auxiliary control fields for fixed-wing runway takeoff/landing.
• FlightPhaseEstimation
• FollowTarget
• FollowTargetEstimator
• FollowTargetStatus
• FuelTankStatus
• GainCompression
• GeneratorStatus
• GeofenceResult
• GeofenceStatus
• GimbalControls
• GimbalDeviceAttitudeStatus
• GimbalDeviceInformation
• GimbalDeviceSetAttitude
• GimbalManagerInformation
• GimbalManagerSetAttitude
• GimbalManagerSetManualControl
• GimbalManagerStatus
• GpioConfig — GPIO configuration.
• GpioIn — GPIO mask and state.
• GpioOut — GPIO mask and state.
• GpioRequest — Request GPIO mask to be read.
• GpsDump — This message is used to dump the raw gps communication to the log.
• GpsInjectData
• Gripper — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module.
• HealthReport
• HeaterStatus
• HoverThrustEstimate
• InputRc
• InternalCombustionEngineControl
• InternalCombustionEngineStatus
• IridiumsbdStatus
• IrlockReport — IRLOCK_REPORT message data.
• LandingGear
• LandingGearWheel
• LandingTargetInnovations
• LandingTargetPose — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
• LaunchDetectionStatus — Status of the launch detection state machine (fixed-wing only).
• LedControl — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's.
• LogMessage — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO.
• LoggerStatus
• MagWorkerData
• MagnetometerBiasEstimate
• ManualControlSwitches
• MavlinkLog
• MavlinkTunnel — MAV_TUNNEL_PAYLOAD_TYPE enum.
• MessageFormatRequest
• MessageFormatResponse
• Mission
• MissionResult
• MountOrientation
• NavigatorMissionItem
• NavigatorStatus — Current status of a Navigator mode. The possible values of nav_state are defined in the VehicleStatus msg.
• NeuralControl — Neural control.
• NormalizedUnsignedSetpoint
• ObstacleDistance — Obstacle distances in front of the sensor.
• OffboardControlMode — Off-board control mode.
• OnboardComputerStatus — ONBOARD_COMPUTER_STATUS message data.
• OpenDroneIdArmStatus
• OpenDroneIdOperatorId
• OpenDroneIdSelfId
• OpenDroneIdSystem
• OrbTest
• OrbTestLarge
• OrbTestMedium
• OrbitStatus — Orbit status.
• ParameterResetRequest — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
• ParameterSetUsedRequest — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
• ParameterSetValueRequest — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end.
• ParameterSetValueResponse — ParameterSetValueResponse : Response to a set value request by either primary or secondary.
• ParameterUpdate — This message is used to notify the system about one or more parameter changes.
• Ping
• PositionControllerLandingStatus
• PositionControllerStatus
• PositionSetpoint — this file is only used in the position_setpoint triple as a dependency.
• PositionSetpointTriplet — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
• PowerButtonState — power button state notification message.
• PowerMonitor — power monitor message.
• PpsCapture
• PrecLandStatus — Precision-landing runtime status: a single state captures both whether precision landing is active and which phase it is in.
• PurePursuitStatus — Pure pursuit status.
• PwmInput
• Px4ioStatus
• QshellReq
• QshellRetval
• RadioStatus
• RangingBeacon — Ranging beacon measurement data (e.g. LoRa, UWB).
• RateCtrlStatus
• RcChannels
• RcParameterMap
• RoverAttitudeSetpoint — Rover Attitude Setpoint.
• RoverAttitudeStatus — Rover Attitude Status.
• RoverPositionSetpoint — Rover Position Setpoint.
• RoverRateSetpoint — Rover Rate setpoint.
• RoverRateStatus — Rover Rate Status.
• RoverSpeedSetpoint — Rover Speed Setpoint.
• RoverSpeedStatus — Rover Velocity Status.
• RoverSteeringSetpoint — Rover Steering setpoint.
• RoverThrottleSetpoint — Rover Throttle setpoint.
• Rpm
• RtlStatus
• RtlTimeEstimate
• SatelliteInfo
• SensorAccel
• SensorAccelFifo
• SensorAirflow
• SensorBaro — Barometer sensor.
• SensorCombined — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates.
• SensorCorrection — Sensor corrections in SI-unit form for the voted sensor.
• SensorGnssRelative — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
• SensorGnssStatus — Gnss quality indicators.
• SensorGps — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds).
• SensorGyro
• SensorGyroFft
• SensorGyroFifo
• SensorHygrometer
• SensorMag
• SensorOpticalFlow
• SensorPreflightMag — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed.
• SensorSelection — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes.
• SensorTemp
• SensorUwb — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
• SensorsStatus — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
• SensorsStatusImu — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
• SystemPower
• TakeoffStatus — Status of the takeoff state machine currently just available for multicopters.
• TargetGnss — Landing target GNSS position in WGS84 coordinates, and optional NED velocity, from a target-mounted receiver.
• TaskStackInfo — stack information for a single running process.
• TecsStatus
• TelemetryStatus
• TiltrotorExtraControls
• TimesyncStatus
• TrajectorySetpoint6dof — Trajectory setpoint in NED frame. Input to position controller.
• TransponderReport
• TuneControl — This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored.
• UavcanParameterRequest — UAVCAN-MAVLink parameter bridge request type.
• UavcanParameterValue — UAVCAN-MAVLink parameter bridge response type.
• UlogStream — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. mavlink message.
• UlogStreamAck — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
• VehicleAcceleration
• VehicleAirData — Vehicle air data.
• VehicleAngularAccelerationSetpoint
• VehicleConstraints — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
• VehicleImu — IMU readings in SI-unit form.
• VehicleImuStatus
• VehicleLocalPositionSetpoint — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
• VehicleMagnetometer
• VehicleOpticalFlow — Optical flow in XYZ body frame in SI units.
• VehicleOpticalFlowVel
• VehicleRoi — Vehicle Region Of Interest (ROI).
• VehicleThrustSetpoint
• VehicleTorqueSetpoint
• VelocityLimits — Velocity and yaw rate limits for a multicopter position slow mode only.
• VteAidSource1d — Vision Target Estimator 1D fusion aid-source diagnostics (e.g. yaw).
• VteAidSource3d — Vision Target Estimator 3D fusion aid-source diagnostics, one fusion_status per NED axis.
• VteBiasInitStatus — Diagnostics for the initial GNSS/vision bias averaging phase in the Vision Target Estimator.
• VteInput — Vehicle inputs fed into the Vision Target Estimator position prediction step, logged for tuning.
• VteOrientation — Vision Target Estimator orientation state, exposing the full yaw filter output with covariances for logging and tuning.
• VtePosition — Vision Target Estimator position state, exposing the full per-axis Kalman filter state with covariances for logging and tuning.
• Vtx
• WheelEncoders
• YawEstimatorStatus