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# ConfigOverridesV0 (UORB message)

Configurable overrides by (external) modes or mode executors.

**TOPICS:** config_overrides config_overrides_request

## Fields

| Name                      | Type     | Unit [Frame] | Range/Enum | Description                                                                  |
| ------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| timestamp                 | `uint64` |              |            | time since system start (microseconds)                                       |
| disable_auto_disarm       | `bool`   |              |            | Prevent the drone from automatically disarming after landing (if configured) |
| defer_failsafes           | `bool`   |              |            | Defer all failsafes that can be deferred (until the flag is cleared)         |
| defer_failsafes_timeout_s | `int16`  |              |            | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| source_type               | `int8`   |              |            |
| source_id                 | `uint8`  |              |            | ID depending on source_type                                                  |

## Constants

| Name                                                              | Type     | Value | Description |
| ----------------------------------------------------------------- | -------- | ----- | ----------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION                     | `uint32` | 0     |
| <a id="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE                   | `int8`   | 0     |
| <a id="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8`   | 1     |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH                   | `uint8`  | 4     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)

::: details Click here to see original file

```c
# Configurable overrides by (external) modes or mode executors

uint32 MESSAGE_VERSION = 0

uint64 timestamp		# time since system start (microseconds)

bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)

bool defer_failsafes             # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s  # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout


int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1
int8 source_type

uint8 source_id                  # ID depending on source_type

uint8 ORB_QUEUE_LENGTH = 4

# TOPICS config_overrides config_overrides_request
```

:::