uORB Message Reference
This list is auto-generated from the source code.
This topic lists the UORB messages available in PX4 (some of which may be may be shared by the PX4-ROS 2 Bridge). Graphs showing how these are used can be found here.
actuator_motors — Motor control message
actuator_servos — Servo control message
collision_constraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
commander_state — Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
distance_sensor — DISTANCE_SENSOR message data
ekf2_timestamps — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
estimator_sensor_bias — 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).
event — Events interface
gps_dump — This message is used to dump the raw gps communication to the log. Set the parameter GPS_DUMP_COMM to 1 to use this.
home_position — GPS home position in WGS84 coordinates.
irlock_report — IRLOCK_REPORT message data
landing_target_pose — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
led_control — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's
log_message — A logging message, output with PX4_{WARN,ERR,INFO}
obstacle_distance — Obstacle distances in front of the sensor.
offboard_control_mode — Off-board control mode
onboard_computer_status — ONBOARD_COMPUTER_STATUS message data
optical_flow — Optical flow in XYZ body frame in SI units. http://en.wikipedia.org/wiki/International_System_of_Units
orbit_status — ORBIT_YAW_BEHAVIOUR
parameter_update — This message is used to notify the system about one or more parameter changes
position_setpoint — this file is only used in the position_setpoint triple as a dependency
position_setpoint_triplet — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
power_button_state — power button state notification message
power_monitor — power monitor message
sensor_combined — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not change with board revisions and sensor updates.
sensor_correction — Sensor corrections in SI-unit form for the voted sensor
sensor_gps — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
sensor_preflight_mag — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed
sensor_selection — 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
sensors_status_imu — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
takeoff_status — Status of the takeoff state machine currently just availble for multicopters
task_stack_info — stack information for a single running process
trajectory_bezier — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
trajectory_waypoint — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
tune_control — 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.
uavcan_parameter_request — UAVCAN-MAVLink parameter bridge request type
uavcan_parameter_value — UAVCAN-MAVLink parameter bridge response type
ulog_stream — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA mavlink message
ulog_stream_ack — Ack a previously sent ulog_stream message that had the NEED_ACK flag set
vehicle_attitude — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
vehicle_constraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
vehicle_global_position — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle_gps_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation.
vehicle_gps_position — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
vehicle_imu — IMU readings in SI-unit form.
vehicle_local_position — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
vehicle_local_position_setpoint — Local position setpoint in NED frame setting something to NaN means the state should not be controlled
vehicle_odometry — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
vehicle_roi — Vehicle Region Of Interest (ROI)
vehicle_status — If you change the order, add or remove arming_state_t states make sure to update the arrays in state_machine_helper.cpp as well.
vehicle_status_flags — This is a struct used by the commander internally.
vehicle_trajectory_bezier — Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_bezier is used to send a smooth flight path from the companion computer / avoidance module to the position controller.
vehicle_trajectory_waypoint — Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
vtol_vehicle_status — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
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