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302
docs/en/advanced_config/parameter_reference.md
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@@ -17996,9 +17996,9 @@ Accelerometer noise for covariance prediction.
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0.01 | 1.0 | | 0.35 | m/s^2 |
### EKF2_AGP_CTRL (`INT32`) {#EKF2_AGP_CTRL}
### EKF2_AGP0_CTRL (`INT32`) {#EKF2_AGP0_CTRL}
Aux global position (AGP) sensor aiding.
Auxiliary global position sensor 0 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
@@ -18011,17 +18011,17 @@ Set bits in the following positions to enable: 0 : Horizontal position fusion 1
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP_DELAY (`FLOAT`) {#EKF2_AGP_DELAY}
### EKF2_AGP0_DELAY (`FLOAT`) {#EKF2_AGP0_DELAY}
Aux global position estimator delay relative to IMU measurements.
Auxiliary global position sensor 0 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 300 | | 0 | ms |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP_GATE (`FLOAT`) {#EKF2_AGP_GATE}
### EKF2_AGP0_GATE (`FLOAT`) {#EKF2_AGP0_GATE}
Gate size for aux global position fusion.
Gate size for auxiliary global position sensor 0 fusion.
Sets the number of standard deviations used by the innovation consistency test.
@@ -18029,9 +18029,19 @@ Sets the number of standard deviations used by the innovation consistency test.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP_MODE (`INT32`) {#EKF2_AGP_MODE}
### EKF2_AGP0_ID (`INT32`) {#EKF2_AGP0_ID}
Fusion reset mode.
Auxiliary global position sensor 0 ID.
Sensor ID for slot 0. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP0_MODE (`INT32`) {#EKF2_AGP0_MODE}
Fusion reset mode for sensor 0.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
@@ -18044,15 +18054,219 @@ Automatic: reset on fusion timeout if no other source of position is available D
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP_NOISE (`FLOAT`) {#EKF2_AGP_NOISE}
### EKF2_AGP0_NOISE (`FLOAT`) {#EKF2_AGP0_NOISE}
Measurement noise for aux global position measurements.
Measurement noise for auxiliary global position sensor 0.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 0.9 | m |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP1_CTRL (`INT32`) {#EKF2_AGP1_CTRL}
Auxiliary global position sensor 1 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP1_DELAY (`FLOAT`) {#EKF2_AGP1_DELAY}
Auxiliary global position sensor 1 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP1_GATE (`FLOAT`) {#EKF2_AGP1_GATE}
Gate size for auxiliary global position sensor 1 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP1_ID (`INT32`) {#EKF2_AGP1_ID}
Auxiliary global position sensor 1 ID.
Sensor ID for slot 1. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP1_MODE (`INT32`) {#EKF2_AGP1_MODE}
Fusion reset mode for sensor 1.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP1_NOISE (`FLOAT`) {#EKF2_AGP1_NOISE}
Measurement noise for auxiliary global position sensor 1.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP2_CTRL (`INT32`) {#EKF2_AGP2_CTRL}
Auxiliary global position sensor 2 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP2_DELAY (`FLOAT`) {#EKF2_AGP2_DELAY}
Auxiliary global position sensor 2 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP2_GATE (`FLOAT`) {#EKF2_AGP2_GATE}
Gate size for auxiliary global position sensor 2 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP2_ID (`INT32`) {#EKF2_AGP2_ID}
Auxiliary global position sensor 2 ID.
Sensor ID for slot 2. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP2_MODE (`INT32`) {#EKF2_AGP2_MODE}
Fusion reset mode for sensor 2.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP2_NOISE (`FLOAT`) {#EKF2_AGP2_NOISE}
Measurement noise for auxiliary global position sensor 2.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_AGP3_CTRL (`INT32`) {#EKF2_AGP3_CTRL}
Auxiliary global position sensor 3 aiding.
Set bits in the following positions to enable: 0 : Horizontal position fusion 1 : Vertical position fusion
**Bitmask:**
- `0`: Horizontal position
- `1`: Vertical position
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### EKF2_AGP3_DELAY (`FLOAT`) {#EKF2_AGP3_DELAY}
Auxiliary global position sensor 3 delay (to IMU).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_AGP3_GATE (`FLOAT`) {#EKF2_AGP3_GATE}
Gate size for auxiliary global position sensor 3 fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 3.0 | SD |
### EKF2_AGP3_ID (`INT32`) {#EKF2_AGP3_ID}
Auxiliary global position sensor 3 ID.
Sensor ID for slot 3. Set to 0 to disable this slot.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 255 | | 0 |
### EKF2_AGP3_MODE (`INT32`) {#EKF2_AGP3_MODE}
Fusion reset mode for sensor 3.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
**Values:**
- `0`: Automatic
- `1`: Dead-reckoning
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### EKF2_AGP3_NOISE (`FLOAT`) {#EKF2_AGP3_NOISE}
Measurement noise for auxiliary global position sensor 3.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | | | 1.0 | m |
### EKF2_ANGERR_INIT (`FLOAT`) {#EKF2_ANGERR_INIT}
@@ -40966,6 +41180,70 @@ uavcan::equipment::range_sensor::Measurement
## UUV Attitude Control
### UUV_HGT_B_DOWN (`INT32`) {#UUV_HGT_B_DOWN}
Height rc-button down.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 16 | | 12 |
### UUV_HGT_B_UP (`INT32`) {#UUV_HGT_B_UP}
Height rc-button up.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 16 | | 11 |
### UUV_HGT_D (`FLOAT`) {#UUV_HGT_D}
Height differential gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_I (`FLOAT`) {#UUV_HGT_I}
Height integrational gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.2 |
### UUV_HGT_I_SPD (`FLOAT`) {#UUV_HGT_I_SPD}
sum speed of error for integrational gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_MAX_DIFF (`FLOAT`) {#UUV_HGT_MAX_DIFF}
maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.3 |
### UUV_HGT_P (`FLOAT`) {#UUV_HGT_P}
Height proportional gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_HGT_STR (`FLOAT`) {#UUV_HGT_STR}
Height change strength from manual input.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 1.0 |
### UUV_MGM_PITCH (`FLOAT`) {#UUV_MGM_PITCH}
Pitch gain for manual inputs in manual control mode.

12
docs/en/frames_sub/bluerov2.md
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@@ -35,12 +35,12 @@ the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
## Manual Modes
| Mode | Description |
|----------|------------------------------------------------------------------------------------------------------------------------|
| Manual | Direct manual control of yaw and thrust. |
| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
| Position | Controlls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
| Mode | Description |
| -------- | -------------------------------------------------------------------------------------------------------------------- |
| Manual | Direct manual control of yaw and thrust. |
| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
| Position | Controlls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
## Airframe Configuration

383
docs/en/middleware/dds_topics.md
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@@ -70,7 +70,7 @@ This document shows a markdown-rendered version of [dds_topics.yaml](https://git
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/aux_global_position | [px4_msgs::msg::AuxGlobalPosition](../msg_docs/AuxGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
@@ -94,200 +94,201 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [Vtx](../msg_docs/Vtx.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [Event](../msg_docs/Event.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [Rpm](../msg_docs/Rpm.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [EventV0](../msg_docs/EventV0.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [Ping](../msg_docs/Ping.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [EscReport](../msg_docs/EscReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [Gripper](../msg_docs/Gripper.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [LedControl](../msg_docs/LedControl.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [Ping](../msg_docs/Ping.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [Mission](../msg_docs/Mission.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [Gripper](../msg_docs/Gripper.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [EscReport](../msg_docs/EscReport.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [LedControl](../msg_docs/LedControl.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [Rpm](../msg_docs/Rpm.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [Vtx](../msg_docs/Vtx.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [EventV0](../msg_docs/EventV0.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [InputRc](../msg_docs/InputRc.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [Event](../msg_docs/Event.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
:::

2
docs/en/msg_docs/ActuatorServosTrim.md
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Servo trims, added as offset to servo outputs.
**TOPICS:** actuator_servostrim
**TOPICS:** actuator_servos_trim
## Fields

2
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# AirspeedValidatedV0 (UORB message)
**TOPICS:** airspeed_validatedv0
**TOPICS:** airspeed_validated_v0
## Fields

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@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
**TOPICS:** arming_checkreply
**TOPICS:** arming_check_reply
## Fields

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# ArmingCheckReplyV0 (UORB message)
**TOPICS:** arming_checkreplyv0
**TOPICS:** arming_check_reply_v0
## Fields

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The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
**TOPICS:** arming_checkrequest
**TOPICS:** arming_check_request
## Fields

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docs/en/msg_docs/ArmingCheckRequestV0.md
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@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
**TOPICS:** arming_checkrequestv0
**TOPICS:** arming_check_request_v0
## Fields

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@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
**TOPICS:** autotune_attitudecontrol_status
**TOPICS:** autotune_attitude_control_status
## Fields

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---
pageClass: is-wide-page
---
# AuxGlobalPosition (UORB message)
Auxiliary global position.
This message provides global position data from an external source such as
pseudolites, visual navigation, or other positioning system.
**TOPICS:** aux_global_position
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| id | `uint8` | | | Unique identifier for the AGP source |
| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
| lat | `float64` | deg | | Latitude in WGS84 |
| lon | `float64` | deg | | Longitude in WGS84 |
| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
## Enums
### SOURCE {#SOURCE}
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | -------------- |
| <a href="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
| <a href="#SOURCE_GNSS"></a> SOURCE_GNSS | `uint8` | 1 | GNSS |
| <a href="#SOURCE_VISION"></a> SOURCE_VISION | `uint8` | 2 | Vision |
| <a href="#SOURCE_PSEUDOLITES"></a> SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites |
| <a href="#SOURCE_TERRAIN"></a> SOURCE_TERRAIN | `uint8` | 4 | Terrain |
| <a href="#SOURCE_MAGNETIC"></a> SOURCE_MAGNETIC | `uint8` | 5 | Magnetic |
| <a href="#SOURCE_ESTIMATOR"></a> SOURCE_ESTIMATOR | `uint8` | 6 | Estimator |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
::: details Click here to see original file
```c
# Auxiliary global position
#
# This message provides global position data from an external source such as
# pseudolites, visual navigation, or other positioning system.
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
uint8 id # [-] Unique identifier for the AGP source
uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
uint8 SOURCE_UNKNOWN = 0 # Unknown source
uint8 SOURCE_GNSS = 1 # GNSS
uint8 SOURCE_VISION = 2 # Vision
uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
uint8 SOURCE_TERRAIN = 4 # Terrain
uint8 SOURCE_MAGNETIC = 5 # Magnetic
uint8 SOURCE_ESTIMATOR = 6 # Estimator
# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
float64 lat # [deg] Latitude in WGS84
float64 lon # [deg] Longitude in WGS84
float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
# TOPICS aux_global_position
```
:::

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@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
**TOPICS:** battery_statusv0
**TOPICS:** battery_status_v0
## Fields

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# CanInterfaceStatus (UORB message)
**TOPICS:** can_interfacestatus
**TOPICS:** can_interface_status
## Fields

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# ControlAllocatorStatus (UORB message)
**TOPICS:** control_allocatorstatus
**TOPICS:** control_allocator_status
## Fields

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# DebugKeyValue (UORB message)
**TOPICS:** debug_keyvalue
**TOPICS:** debug_key_value
## Fields

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# DistanceSensorModeChangeRequest (UORB message)
**TOPICS:** distance_sensormode_changerequest
**TOPICS:** distance_sensor_mode_change_request
## Fields

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# DronecanNodeStatus (UORB message)
**TOPICS:** dronecan_nodestatus
**TOPICS:** dronecan_node_status
## Fields

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# EstimatorEventFlags (UORB message)
**TOPICS:** estimator_eventflags
**TOPICS:** estimator_event_flags
## Fields

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# EstimatorGpsStatus (UORB message)
**TOPICS:** estimator_gpsstatus
**TOPICS:** estimator_gps_status
## Fields

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# EstimatorSelectorStatus (UORB message)
**TOPICS:** estimator_selectorstatus
**TOPICS:** estimator_selector_status
## Fields

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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).
**TOPICS:** estimator_sensorbias
**TOPICS:** estimator_sensor_bias
## Fields

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# EstimatorStatusFlags (UORB message)
**TOPICS:** estimator_statusflags
**TOPICS:** estimator_status_flags
## Fields

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this message is required here in the msg_old folder because other msg are depending on it. Events interface.
**TOPICS:** eventv0
**TOPICS:** event_v0
## Fields

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# FailureDetectorStatus (UORB message)
**TOPICS:** failure_detectorstatus
**TOPICS:** failure_detector_status
## Fields

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# FigureEightStatus (UORB message)
**TOPICS:** figure_eightstatus
**TOPICS:** figure_eight_status
## Fields

2
docs/en/msg_docs/FixedWingLateralGuidanceStatus.md
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Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
**TOPICS:** fixed_winglateral_guidancestatus
**TOPICS:** fixed_wing_lateral_guidance_status
## Fields

2
docs/en/msg_docs/FixedWingLateralSetpoint.md
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Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
**TOPICS:** fixed_winglateral_setpoint
**TOPICS:** fixed_wing_lateral_setpoint
## Fields

2
docs/en/msg_docs/FixedWingLateralStatus.md
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Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
**TOPICS:** fixed_winglateral_status
**TOPICS:** fixed_wing_lateral_status
## Fields

2
docs/en/msg_docs/FixedWingLongitudinalSetpoint.md
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Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
**TOPICS:** fixed_winglongitudinal_setpoint
**TOPICS:** fixed_wing_longitudinal_setpoint
## Fields

2
docs/en/msg_docs/FixedWingRunwayControl.md
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Auxiliary control fields for fixed-wing runway takeoff/landing.
**TOPICS:** fixed_wingrunway_control
**TOPICS:** fixed_wing_runway_control
## Fields

2
docs/en/msg_docs/FlightPhaseEstimation.md
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# FlightPhaseEstimation (UORB message)
**TOPICS:** flight_phaseestimation
**TOPICS:** flight_phase_estimation
## Fields

2
docs/en/msg_docs/FollowTargetEstimator.md
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# FollowTargetEstimator (UORB message)
**TOPICS:** follow_targetestimator
**TOPICS:** follow_target_estimator
## Fields

2
docs/en/msg_docs/FollowTargetStatus.md
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# FollowTargetStatus (UORB message)
**TOPICS:** follow_targetstatus
**TOPICS:** follow_target_status
## Fields

2
docs/en/msg_docs/FuelTankStatus.md
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# FuelTankStatus (UORB message)
**TOPICS:** fuel_tankstatus
**TOPICS:** fuel_tank_status
## Fields

2
docs/en/msg_docs/GimbalDeviceAttitudeStatus.md
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# GimbalDeviceAttitudeStatus (UORB message)
**TOPICS:** gimbal_deviceattitude_status
**TOPICS:** gimbal_device_attitude_status
## Fields

2
docs/en/msg_docs/GimbalDeviceInformation.md
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# GimbalDeviceInformation (UORB message)
**TOPICS:** gimbal_deviceinformation
**TOPICS:** gimbal_device_information
## Fields

2
docs/en/msg_docs/GimbalDeviceSetAttitude.md
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# GimbalDeviceSetAttitude (UORB message)
**TOPICS:** gimbal_deviceset_attitude
**TOPICS:** gimbal_device_set_attitude
## Fields

2
docs/en/msg_docs/GimbalManagerInformation.md
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# GimbalManagerInformation (UORB message)
**TOPICS:** gimbal_managerinformation
**TOPICS:** gimbal_manager_information
## Fields

2
docs/en/msg_docs/GimbalManagerSetAttitude.md
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# GimbalManagerSetAttitude (UORB message)
**TOPICS:** gimbal_managerset_attitude
**TOPICS:** gimbal_manager_set_attitude
## Fields

2
docs/en/msg_docs/GimbalManagerSetManualControl.md
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# GimbalManagerSetManualControl (UORB message)
**TOPICS:** gimbal_managerset_manualcontrol
**TOPICS:** gimbal_manager_set_manual_control
## Fields

2
docs/en/msg_docs/GimbalManagerStatus.md
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# GimbalManagerStatus (UORB message)
**TOPICS:** gimbal_managerstatus
**TOPICS:** gimbal_manager_status
## Fields

2
docs/en/msg_docs/GpsInjectData.md
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# GpsInjectData (UORB message)
**TOPICS:** gps_injectdata
**TOPICS:** gps_inject_data
## Fields

2
docs/en/msg_docs/HomePositionV0.md
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GPS home position in WGS84 coordinates.
**TOPICS:** home_positionv0
**TOPICS:** home_position_v0
## Fields

2
docs/en/msg_docs/HoverThrustEstimate.md
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# HoverThrustEstimate (UORB message)
**TOPICS:** hover_thrustestimate
**TOPICS:** hover_thrust_estimate
## Fields

2
docs/en/msg_docs/InternalCombustionEngineControl.md
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# InternalCombustionEngineControl (UORB message)
**TOPICS:** internal_combustionengine_control
**TOPICS:** internal_combustion_engine_control
## Fields

2
docs/en/msg_docs/InternalCombustionEngineStatus.md
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# InternalCombustionEngineStatus (UORB message)
**TOPICS:** internal_combustionengine_status
**TOPICS:** internal_combustion_engine_status
## Fields

2
docs/en/msg_docs/LandingGearWheel.md
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# LandingGearWheel (UORB message)
**TOPICS:** landing_gearwheel
**TOPICS:** landing_gear_wheel
## Fields

2
docs/en/msg_docs/LandingTargetInnovations.md
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# LandingTargetInnovations (UORB message)
**TOPICS:** landing_targetinnovations
**TOPICS:** landing_target_innovations
## Fields

2
docs/en/msg_docs/LandingTargetPose.md
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Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
**TOPICS:** landing_targetpose
**TOPICS:** landing_target_pose
## Fields

2
docs/en/msg_docs/LateralControlConfiguration.md
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Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
**TOPICS:** lateral_controlconfiguration
**TOPICS:** lateral_control_configuration
## Fields

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