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docs: update uORB message reference docs

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Ramon Roche
2025-06-05 07:04:23 -07:00
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docs/en/msg_docs/ArmingCheckReply.md
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# ArmingCheckReply (UORB message) # ArmingCheckReply (UORB message)
Arming check reply Arming check reply.
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station). The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
```c ```c
# Arming check reply # Arming check reply.
# #
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station). # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a
# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). # 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. # The message is not used by internal/FMU components, as their mode requirements are known at compile time.
uint32 MESSAGE_VERSION = 1 uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start. uint64 timestamp # [us] Time since system start.
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response uint8 request_id # Id of ArmingCheckRequest for which this is a response.
uint8 registration_id # [-] Id of external component emitting this response uint8 registration_id # Id of external component emitting this response.
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX] uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json) bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json) bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json) bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
uint8 num_events # Number of queued failure messages (Event) in the events field uint8 num_events # Number of queued failure messages (Event) in the events field.
Event[5] events # Arming failure reasons (Queue of events to report to GCS) Event[5] events # Arming failure reasons (Queue of events to report to GCS).
# Mode requirements # Mode requirements
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope) bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
bool mode_req_attitude # Requires an attitude estimate bool mode_req_attitude # Requires an attitude estimate.
bool mode_req_local_alt # Requires a local altitude estimate bool mode_req_local_alt # Requires a local altitude estimate.
bool mode_req_local_position # Requires a local position estimate bool mode_req_local_position # Requires a local position estimate.
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
bool mode_req_global_position # Requires a global position estimate bool mode_req_global_position # Requires a global position estimate.
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
bool mode_req_mission # Requires an uploaded mission bool mode_req_mission # Requires an uploaded mission.
bool mode_req_home_position # Requires a home position (such as RTL/Return mode) bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
bool mode_req_prevent_arming # Prevent arming (such as in Land mode) bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
bool mode_req_manual_control # Requires a manual controller bool mode_req_manual_control # Requires a manual controller
uint8 ORB_QUEUE_LENGTH = 4 uint8 ORB_QUEUE_LENGTH = 4 #
``` ```
docs/en/msg_docs/ArmingCheckReplyV0.md
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# ArmingCheckReplyV0 (UORB message) # ArmingCheckReplyV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
```c ```c
docs/en/msg_docs/ArmingCheckRequest.md
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# ArmingCheckRequest (UORB message) # ArmingCheckRequest (UORB message)
Arming check request Arming check request.
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
```c ```c
# Arming check request # Arming check request.
# #
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -21,12 +21,10 @@ The reply will also include the registration_id for each external component, pro
# The reply will include the published request_id, allowing correlation of all arming check information for a particular request. # 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). # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
uint32 MESSAGE_VERSION = 1 uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start.
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages. uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
``` ```
docs/en/msg_docs/index.md
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@@ -15,80 +15,79 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorMotors](ActuatorMotors.md) — Motor control message - [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorServos](ActuatorServos.md) — Servo control message - [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed - [AirspeedValidated](AirspeedValidated.md)
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
- [BatteryStatus](BatteryStatus.md) — Battery status - [BatteryStatus](BatteryStatus.md)
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
- [Event](Event.md) — Events interface - [Event](Event.md) — Events interface
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message - [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
Used by the fw_lateral_longitudinal_control module Used by the fw_lateral_longitudinal_control module
At least one of course, airspeed_direction, or lateral_acceleration must be finite. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message - [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message
Used by the fw_lateral_longitudinal_control module 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 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. If both altitude and height_rate are NAN, the controller maintains the current altitude.
- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints
Setpoints are intended as inputs to position and heading smoothers, respectively Setpoints are intended as inputs to position and heading smoothers, respectively
Setpoints do not need to be kinematically consistent Setpoints do not need to be kinematically consistent
Optional heading setpoints may be specified as controlled by the respective flag Optional heading setpoints may be specified as controlled by the respective flag
Unset optional setpoints are not controlled Unset optional setpoints are not controlled
Unset optional constraints default to vehicle specifications Unset optional constraints default to vehicle specifications
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message - [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message - [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
and configure the resultant setpoints. and configure the resultant setpoints.
- [ManualControlSetpoint](ManualControlSetpoint.md) - [ManualControlSetpoint](ManualControlSetpoint.md)
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode.
The possible values of nav_state are defined in the VehicleStatus msg. 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 Note that this is not always published (e.g. when a user switches modes or on
failsafe activation) failsafe activation)
- [RegisterExtComponentReply](RegisterExtComponentReply.md) - [RegisterExtComponentReply](RegisterExtComponentReply.md)
- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component
- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame
Input to PID position controller. Input to PID position controller.
Needs to be kinematically consistent and feasible for smooth flight. Needs to be kinematically consistent and feasible for smooth flight.
setting a value to NaN means the state should not be controlled setting a value to NaN means the state should not be controlled
- [UnregisterExtComponent](UnregisterExtComponent.md) - [UnregisterExtComponent](UnregisterExtComponent.md)
- [VehicleAngularVelocity](VehicleAngularVelocity.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md)
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - [VehicleAttitude](VehicleAttitude.md) — 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) The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc.
Follows the MAVLink COMMAND_INT / COMMAND_LONG definition Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message.
Used for acknowledging the vehicle command being received. Used for acknowledging the vehicle command being received.
Follows the MAVLink COMMAND_ACK message definition Follows the MAVLink COMMAND_ACK message definition
- [VehicleControlMode](VehicleControlMode.md) - [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84.
This struct contains global position estimation. It is not the raw GPS 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 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, 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. e.g. control inputs of the vehicle in a Kalman-filter implementation.
- [VehicleLandDetected](VehicleLandDetected.md) - [VehicleLandDetected](VehicleLandDetected.md)
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - [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. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data - [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
- [Wind](Wind.md) — Wind estimate (from EKF2)
## Unversioned Messages ## Unversioned Messages
- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state - [ActionRequest](ActionRequest.md)
- [ActuatorArmed](ActuatorArmed.md) - [ActuatorArmed](ActuatorArmed.md)
- [ActuatorControlsStatus](ActuatorControlsStatus.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md)
- [ActuatorOutputs](ActuatorOutputs.md) - [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md) - [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md) — ADC raw data. - [AdcReport](AdcReport.md)
- [Airspeed](Airspeed.md) — Airspeed data from sensors - [Airspeed](Airspeed.md)
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) - [AirspeedWind](AirspeedWind.md)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
- [BatteryInfo](BatteryInfo.md) — Battery information
- [ButtonEvent](ButtonEvent.md) - [ButtonEvent](ButtonEvent.md)
- [CameraCapture](CameraCapture.md) - [CameraCapture](CameraCapture.md)
- [CameraStatus](CameraStatus.md) - [CameraStatus](CameraStatus.md)
@@ -96,7 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [CanInterfaceStatus](CanInterfaceStatus.md) - [CanInterfaceStatus](CanInterfaceStatus.md)
- [CellularStatus](CellularStatus.md) — Cellular status - [CellularStatus](CellularStatus.md) — Cellular status
- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame
setting something to NaN means that no limit is provided setting something to NaN means that no limit is provided
- [ControlAllocatorStatus](ControlAllocatorStatus.md) - [ControlAllocatorStatus](ControlAllocatorStatus.md)
- [Cpuload](Cpuload.md) - [Cpuload](Cpuload.md)
- [DatamanRequest](DatamanRequest.md) - [DatamanRequest](DatamanRequest.md)
@@ -105,13 +104,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [DebugKeyValue](DebugKeyValue.md) - [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md) - [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md) - [DebugVect](DebugVect.md)
- [DeviceInformation](DeviceInformation.md) — Device information - [DifferentialPressure](DifferentialPressure.md)
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md) - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
- [DronecanNodeStatus](DronecanNodeStatus.md)
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. - [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2.
It can be used for reproducible replay. It can be used for reproducible replay.
- [EscReport](EscReport.md) - [EscReport](EscReport.md)
- [EscStatus](EscStatus.md) - [EscStatus](EscStatus.md)
- [EstimatorAidSource1d](EstimatorAidSource1d.md) - [EstimatorAidSource1d](EstimatorAidSource1d.md)
@@ -124,7 +121,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [EstimatorInnovations](EstimatorInnovations.md) - [EstimatorInnovations](EstimatorInnovations.md)
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md) - [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, - [EstimatorSensorBias](EstimatorSensorBias.md) — 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). scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
- [EstimatorStates](EstimatorStates.md) - [EstimatorStates](EstimatorStates.md)
- [EstimatorStatus](EstimatorStatus.md) - [EstimatorStatus](EstimatorStatus.md)
- [EstimatorStatusFlags](EstimatorStatusFlags.md) - [EstimatorStatusFlags](EstimatorStatusFlags.md)
@@ -132,16 +129,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [FailureDetectorStatus](FailureDetectorStatus.md) - [FailureDetectorStatus](FailureDetectorStatus.md)
- [FigureEightStatus](FigureEightStatus.md) - [FigureEightStatus](FigureEightStatus.md)
- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message - [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message - [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing - [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing
- [FlightPhaseEstimation](FlightPhaseEstimation.md) - [FlightPhaseEstimation](FlightPhaseEstimation.md)
- [FollowTarget](FollowTarget.md) - [FollowTarget](FollowTarget.md)
- [FollowTargetEstimator](FollowTargetEstimator.md) - [FollowTargetEstimator](FollowTargetEstimator.md)
- [FollowTargetStatus](FollowTargetStatus.md) - [FollowTargetStatus](FollowTargetStatus.md)
- [FuelTankStatus](FuelTankStatus.md) - [FuelTankStatus](FuelTankStatus.md)
- [GainCompression](GainCompression.md)
- [GeneratorStatus](GeneratorStatus.md) - [GeneratorStatus](GeneratorStatus.md)
- [GeofenceResult](GeofenceResult.md) - [GeofenceResult](GeofenceResult.md)
- [GeofenceStatus](GeofenceStatus.md) - [GeofenceStatus](GeofenceStatus.md)
@@ -174,7 +170,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames - [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only) - [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only)
- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. - [LedControl](LedControl.md) — LED control: control a single or multiple LED's.
These are the externally visible LED's, not the board LED's These are the externally visible LED's, not the board LED's
- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO - [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
- [LoggerStatus](LoggerStatus.md) - [LoggerStatus](LoggerStatus.md)
- [MagWorkerData](MagWorkerData.md) - [MagWorkerData](MagWorkerData.md)
@@ -189,8 +185,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [MountOrientation](MountOrientation.md) - [MountOrientation](MountOrientation.md)
- [NavigatorMissionItem](NavigatorMissionItem.md) - [NavigatorMissionItem](NavigatorMissionItem.md)
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode - [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode
The possible values of nav_state are defined in the VehicleStatus msg. The possible values of nav_state are defined in the VehicleStatus msg.
- [NeuralControl](NeuralControl.md) — Neural control
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md) - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor. - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode - [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
@@ -213,11 +208,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [PositionControllerStatus](PositionControllerStatus.md) - [PositionControllerStatus](PositionControllerStatus.md)
- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency - [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency
- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. - [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates.
This are the three next waypoints (or just the next two or one). This are the three next waypoints (or just the next two or one).
- [PowerButtonState](PowerButtonState.md) — power button state notification message - [PowerButtonState](PowerButtonState.md) — power button state notification message
- [PowerMonitor](PowerMonitor.md) — power monitor message - [PowerMonitor](PowerMonitor.md) — power monitor message
- [PpsCapture](PpsCapture.md) - [PpsCapture](PpsCapture.md)
- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status - [PurePursuitStatus](PurePursuitStatus.md)
- [PwmInput](PwmInput.md) - [PwmInput](PwmInput.md)
- [Px4ioStatus](Px4ioStatus.md) - [Px4ioStatus](Px4ioStatus.md)
- [QshellReq](QshellReq.md) - [QshellReq](QshellReq.md)
@@ -226,15 +221,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RateCtrlStatus](RateCtrlStatus.md) - [RateCtrlStatus](RateCtrlStatus.md)
- [RcChannels](RcChannels.md) - [RcChannels](RcChannels.md)
- [RcParameterMap](RcParameterMap.md) - [RcParameterMap](RcParameterMap.md)
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint - [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md)
- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status - [RoverAttitudeStatus](RoverAttitudeStatus.md)
- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint - [RoverPositionSetpoint](RoverPositionSetpoint.md)
- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint - [RoverRateSetpoint](RoverRateSetpoint.md)
- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status - [RoverRateStatus](RoverRateStatus.md)
- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint - [RoverSteeringSetpoint](RoverSteeringSetpoint.md)
- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status - [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint - [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint - [RoverVelocityStatus](RoverVelocityStatus.md)
- [Rpm](Rpm.md) - [Rpm](Rpm.md)
- [RtlStatus](RtlStatus.md) - [RtlStatus](RtlStatus.md)
- [RtlTimeEstimate](RtlTimeEstimate.md) - [RtlTimeEstimate](RtlTimeEstimate.md)
@@ -242,15 +237,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [SensorAccel](SensorAccel.md) - [SensorAccel](SensorAccel.md)
- [SensorAccelFifo](SensorAccelFifo.md) - [SensorAccelFifo](SensorAccelFifo.md)
- [SensorAirflow](SensorAirflow.md) - [SensorAirflow](SensorAirflow.md)
- [SensorBaro](SensorBaro.md) — Barometer sensor - [SensorBaro](SensorBaro.md)
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. - [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
These fields are scaled and offset-compensated where possible and do not These fields are scaled and offset-compensated where possible and do not
change with board revisions and sensor updates. change with board revisions and sensor updates.
- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor - [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. - [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
the field 'timestamp' is for the position & velocity (microseconds) the field 'timestamp' is for the position & velocity (microseconds)
- [SensorGyro](SensorGyro.md) - [SensorGyro](SensorGyro.md)
- [SensorGyroFft](SensorGyroFft.md) - [SensorGyroFft](SensorGyroFft.md)
- [SensorGyroFifo](SensorGyroFifo.md) - [SensorGyroFifo](SensorGyroFifo.md)
@@ -258,12 +252,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [SensorMag](SensorMag.md) - [SensorMag](SensorMag.md)
- [SensorOpticalFlow](SensorOpticalFlow.md) - [SensorOpticalFlow](SensorOpticalFlow.md)
- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. - [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics.
The topic will not be updated when the vehicle is armed The topic will not be updated when the vehicle is armed
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. - [SensorSelection](SensorSelection.md) — 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 Will be updated on startup of the sensor module and when sensor selection changes
- [SensorTemp](SensorTemp.md)
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system, - [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
such as Pozyx or NXP Rddrone. such as Pozyx or NXP Rddrone.
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. - [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. - [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SystemPower](SystemPower.md) - [SystemPower](SystemPower.md)
@@ -274,26 +267,26 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [TiltrotorExtraControls](TiltrotorExtraControls.md) - [TiltrotorExtraControls](TiltrotorExtraControls.md)
- [TimesyncStatus](TimesyncStatus.md) - [TimesyncStatus](TimesyncStatus.md)
- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame - [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame
Input to position controller. Input to position controller.
- [TransponderReport](TransponderReport.md) - [TransponderReport](TransponderReport.md)
- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM - [TuneControl](TuneControl.md) — 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. then the frequency, duration are used otherwise those values are ignored.
- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type - [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type
- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type - [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type
- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA - [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA
mavlink message mavlink message
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
the NEED_ACK flag set the NEED_ACK flag set
- [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md) — Vehicle air data - [VehicleAirData](VehicleAirData.md)
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
setting something to NaN means that no limit is provided setting something to NaN means that no limit is provided
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
- [VehicleImuStatus](VehicleImuStatus.md) - [VehicleImuStatus](VehicleImuStatus.md)
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame
Telemetry of PID position controller to monitor tracking. Telemetry of PID position controller to monitor tracking.
NaN means the state was not controlled NaN means the state was not controlled
- [VehicleMagnetometer](VehicleMagnetometer.md) - [VehicleMagnetometer](VehicleMagnetometer.md)
- [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units.
- [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md)
@@ -302,18 +295,13 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
- [WheelEncoders](WheelEncoders.md) - [WheelEncoders](WheelEncoders.md)
- [Wind](Wind.md)
- [YawEstimatorStatus](YawEstimatorStatus.md) - [YawEstimatorStatus](YawEstimatorStatus.md)
- [AirspeedValidatedV0](AirspeedValidatedV0.md) - [AirspeedValidatedV0](AirspeedValidatedV0.md)
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md) - [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
- [BatteryStatusV0](BatteryStatusV0.md) — Battery status
- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
Events interface Events interface
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED.
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander