docs: auto-sync metadata [skip ci]

Co-Authored-By: PX4 BuildBot <bot@px4.io>
2026-05-20 20:03:54 +08:00 · 2026-05-01 07:36:37 +00:00
parent 0ffc7f0f8a
commit bda25bfcc1
8 changed files with 293 additions and 247 deletions
@@ -19500,21 +19500,6 @@ Goal:
 | ------ | -------- | -------- | --------- | ------- | ---- | --------- |
 | &nbsp; | 0        | 30       | 0.1       | 1.0     | s    | &nbsp;    |

-### COM_TAKEOFF_ACT (`INT32`) {#COM_TAKEOFF_ACT}
-
-Action after TAKEOFF has been accepted.
-
-The mode transition after TAKEOFF has completed successfully.
-
-**Values:**
-
- `0`: Hold
- `1`: Mission (if valid)
-
-| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
-| ------ | -------- | -------- | --------- | ------- | ---- | --------- |
-| &nbsp; |          |          |           | 0       |      | &nbsp;    |
-
 ### COM_THROW_EN (`INT32`) {#COM_THROW_EN}

 Enable throw-start.
@@ -45266,3 +45251,35 @@ ROS2 RMW_ZENOH_CPP Domain id.
 | Reboot | minValue | maxValue | increment | default | unit | Read-Only |
 | ------ | -------- | -------- | --------- | ------- | ---- | --------- |
 | &nbsp; | 0        | 232      |           | 0       |      | &nbsp;    |
+
+### ZENOH_PUB_CC (`INT32`) {#ZENOH_PUB_CC}
+
+Zenoh publisher congestion control (global default).
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | 0        | 1        |           | 0       |      | &nbsp;    |
+
+### ZENOH_PUB_EXPR (`INT32`) {#ZENOH_PUB_EXPR}
+
+Zenoh publisher express mode (global default).
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | 0        | 1        |           | 0       |      | &nbsp;    |
+
+### ZENOH_PUB_PRIO (`INT32`) {#ZENOH_PUB_PRIO}
+
+Zenoh publisher priority (global default).
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | 1        | 7        |           | 5       |      | &nbsp;    |
+
+### ZENOH_PUB_REL (`INT32`) {#ZENOH_PUB_REL}
+
+Zenoh publisher reliability (global default).
+
+| Reboot  | minValue | maxValue | increment | default | unit | Read-Only |
+| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
+| &check; | 0        | 1        |           | 0       |      | &nbsp;    |
@@ -95,209 +95,209 @@ They are not build into the module, and hence are neither published or subscribe

 ::: details See messages

- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [InputRc](../msg_docs/InputRc.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [LedControl](../msg_docs/LedControl.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
 - [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [Ping](../msg_docs/Ping.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [Mission](../msg_docs/Mission.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [Gripper](../msg_docs/Gripper.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
 - [WheelEncoders](../msg_docs/WheelEncoders.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [EscEepromRead](../msg_docs/EscEepromRead.md)
+- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
+- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
 - [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [Vtx](../msg_docs/Vtx.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [SensorTemp](../msg_docs/SensorTemp.md)
+- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
 - [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [RaptorInput](../msg_docs/RaptorInput.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
+- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [RaptorStatus](../msg_docs/RaptorStatus.md)
+- [NeuralControl](../msg_docs/NeuralControl.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
 - [PowerMonitor](../msg_docs/PowerMonitor.md)
 - [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
 - [GpioIn](../msg_docs/GpioIn.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
 - [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
 - [GimbalControls](../msg_docs/GimbalControls.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [EventV0](../msg_docs/EventV0.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [Event](../msg_docs/Event.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [QshellReq](../msg_docs/QshellReq.md)
 - [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
+- [Event](../msg_docs/Event.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [BatteryInfo](../msg_docs/BatteryInfo.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [DeviceInformation](../msg_docs/DeviceInformation.md)
+- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [RangingBeacon](../msg_docs/RangingBeacon.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [HomePositionV0](../msg_docs/HomePositionV0.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [Ping](../msg_docs/Ping.md)
+- [Mission](../msg_docs/Mission.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
+- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [GainCompression](../msg_docs/GainCompression.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [Gripper](../msg_docs/Gripper.md)
  :::
@@ -181,7 +181,6 @@ The main operations and their commands are:
  ```

  Options are comma-separated `key=value` pairs:
-
  - `cc=drop|block` (congestion control)
  - `express=true|false` (batching behaviour)
  - `prio=real_time|interactive_high|interactive_low|data_high|data|data_low|background` (priority)
@@ -4,32 +4,49 @@ pageClass: is-wide-page

 # OrbitStatus (UORB message)

-ORBIT_YAW_BEHAVIOUR.
+Orbit status.
+
+Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
+For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
+when a valid GPS projection is available.
+For fixed-wing, published by FixedWingModeManager during loiter.
+Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).

 **TOPICS:** orbit_status

 ## Fields

-| Name          | Type      | Unit [Frame] | Range/Enum | Description                                                                                                                                     |
-| ------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
-| timestamp     | `uint64`  |              |            | time since system start (microseconds)                                                                                                          |
-| radius        | `float32` |              |            | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]                                       |
-| frame         | `uint8`   |              |            | The coordinate system of the fields: x, y, z.                                                                                                   |
-| x             | `float64` |              |            | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
-| y             | `float64` |              |            | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
-| z             | `float32` |              |            | Altitude of center point. Coordinate system depends on frame field.                                                                             |
-| yaw_behaviour | `uint8`   |              |            |
+| Name          | Type      | Unit [Frame] | Range/Enum                                  | Description                                                                                                                                          |
+| ------------- | --------- | ------------ | ------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| timestamp     | `uint64`  | us           |                                             | Time since system start                                                                                                                              |
+| radius        | `float32` | m            |                                             | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.                                                |
+| frame         | `uint8`   |              | [FRAME](#FRAME)                             | The coordinate system of the fields: x, y, z                                                                                                         |
+| x             | `float64` |              |                                             | X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`.  |
+| y             | `float64` |              |                                             | Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`. |
+| z             | `float32` |              |                                             | Altitude of center point. Coordinate system depends on frame field.                                                                                  |
+| yaw_behaviour | `uint8`   |              | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) |

-## Constants
+## Enums

-| Name                                                                                                            | Type    | Value | Description |
-| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------- |
-| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER   | `uint8` | 0     |
-| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING                 | `uint8` | 1     |
-| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED                                 | `uint8` | 2     |
-| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3     |
-| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED                               | `uint8` | 4     |
-| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED                                       | `uint8` | 5     |
+### FRAME {#FRAME}
+
+| Name                                                              | Type    | Value | Description                                                                          |
+| ----------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------ |
+| <a id="#FRAME_GLOBAL"></a> FRAME_GLOBAL                           | `uint8` | 0     | WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)           |
+| <a id="#FRAME_LOCAL_NED"></a> FRAME_LOCAL_NED                     | `uint8` | 1     | Local NED frame. x/y = north/east position (meters × 1e4)                            |
+| <a id="#FRAME_GLOBAL_RELATIVE_ALT"></a> FRAME_GLOBAL_RELATIVE_ALT | `uint8` | 3     | WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)    |
+| <a id="#FRAME_GLOBAL_TERRAIN_ALT"></a> FRAME_GLOBAL_TERRAIN_ALT   | `uint8` | 10    | WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7) |
+
+### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR}
+
+| Name                                                                                                            | Type    | Value | Description                                                                                                                                         |
+| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER   | `uint8` | 0     | Vehicle front points to the center (default).                                                                                                       |
+| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING                 | `uint8` | 1     | Vehicle front holds heading when message received.                                                                                                  |
+| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED                                 | `uint8` | 2     | Yaw uncontrolled.                                                                                                                                   |
+| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3     | Vehicle front follows flight path (tangential to circle).                                                                                           |
+| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED                               | `uint8` | 4     | Yaw controlled by RC input.                                                                                                                         |
+| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED                                       | `uint8` | 5     | Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded. |

 ## Source Message

@@ -38,21 +55,34 @@ ORBIT_YAW_BEHAVIOUR.
 ::: details Click here to see original file

 ```c
-# ORBIT_YAW_BEHAVIOUR
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
-uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
-uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
-uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
-uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
+# Orbit status
+#
+# Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
+# For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
+# when a valid GPS projection is available.
+# For fixed-wing, published by FixedWingModeManager during loiter.
+# Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).

-uint64 timestamp # time since system start (microseconds)
-float32 radius   # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
-uint8 frame      # The coordinate system of the fields: x, y, z.
-float64 x        # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
-float64 y        # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
-float32 z        # Altitude of center point. Coordinate system depends on frame field.
-uint8 yaw_behaviour
+uint64 timestamp # [us] Time since system start
+float32 radius # [m] Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
+
+uint8 frame # [@enum FRAME] The coordinate system of the fields: x, y, z
+uint8 FRAME_GLOBAL = 0 # WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)
+uint8 FRAME_LOCAL_NED = 1 # Local NED frame. x/y = north/east position (meters × 1e4)
+uint8 FRAME_GLOBAL_RELATIVE_ALT = 3 # WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)
+uint8 FRAME_GLOBAL_TERRAIN_ALT = 10 # WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7)
+
+float64 x # X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`.
+float64 y # Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`.
+float32 z # Altitude of center point. Coordinate system depends on frame field.
+
+uint8 yaw_behaviour # [@enum ORBIT_YAW_BEHAVIOUR]
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0 # Vehicle front points to the center (default).
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 # Vehicle front holds heading when message received.
+uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 # Yaw uncontrolled.
+uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 # Vehicle front follows flight path (tangential to circle).
+uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 # Yaw controlled by RC input.
+uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 # Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.
 ```

 :::
@@ -173,7 +173,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 - [OrbTest](OrbTest.md)
 - [OrbTestLarge](OrbTestLarge.md)
 - [OrbTestMedium](OrbTestMedium.md)
- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR.
+- [OrbitStatus](OrbitStatus.md) — Orbit status.
 - [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
 - [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
 - [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end.