uORB 消息参考
INFO
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.
ActuatorMotors — Motor control message
ActuatorServos — Servo control message
ActuatorServosTrim — Servo trims, added as offset to servo outputs
CollisionConstraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
ConfigOverrides — Configurable overrides by (external) modes or mode executors
DistanceSensor — DISTANCE_SENSOR message data
Ekf2Timestamps — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
EstimatorSensorBias — 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
FailsafeFlags — Input flags for the failsafe state machine set by the arming & health checks.
GotoSetpoint — Position and (optional) heading setpoints with corresponding speed constraints Setpoints are intended as inputs to position and heading smoothers, respectively Setpoints do not need to be kinematically consistent Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications
GpioConfig — GPIO configuration
GpioIn — GPIO mask and state
GpioOut — GPIO mask and state
GpioRequest — Request GPIO mask to be read
GpsDump — This message is used to dump the raw gps communication to the log.
Gripper — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
HomePosition — GPS home position in WGS84 coordinates.
IrlockReport — IRLOCK_REPORT message data
LandingTargetPose — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
LaunchDetectionStatus — Status of the launch detection state machine (fixed-wing only)
LedControl — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's
LogMessage — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
MavlinkTunnel — MAV_TUNNEL_PAYLOAD_TYPE enum
ModeCompleted — Mode completion result, published by an active mode. 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 failsafe activation)
NavigatorStatus — Current status of a Navigator mode The possible values of nav_state are defined in the VehicleStatus msg.
ObstacleDistance — Obstacle distances in front of the sensor.
OffboardControlMode — Off-board control mode
OnboardComputerStatus — ONBOARD_COMPUTER_STATUS message data
OrbitStatus — ORBIT_YAW_BEHAVIOUR
ParameterResetRequest — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote
ParameterSetUsedRequest — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary
ParameterSetValueRequest — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end
ParameterSetValueResponse — ParameterSetValueResponse : Response to a set value request by either primary or secondary
ParameterUpdate — This message is used to notify the system about one or more parameter changes
PositionSetpoint — this file is only used in the position_setpoint triple as a dependency
PositionSetpointTriplet — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
PowerButtonState — power button state notification message
PowerMonitor — power monitor message
RegisterExtComponentRequest — Request to register an external component
SensorCombined — 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.
SensorCorrection — Sensor corrections in SI-unit form for the voted sensor
SensorGnssRelative — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
SensorGps — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
SensorPreflightMag — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed
SensorSelection — 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
SensorUwb — UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
SensorsStatus — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
SensorsStatusImu — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
TakeoffStatus — Status of the takeoff state machine currently just available for multicopters
TaskStackInfo — stack information for a single running process
TrajectoryBezier — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
TrajectorySetpoint — Trajectory setpoint in NED frame Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled
TrajectoryWaypoint — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
TuneControl — 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.
UavcanParameterRequest — UAVCAN-MAVLink parameter bridge request type
UavcanParameterValue — UAVCAN-MAVLink parameter bridge response type
UlogStream — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA mavlink message
UlogStreamAck — Ack a previously sent ulog_stream message that had the NEED_ACK flag set
VehicleAttitude — 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)
VehicleCommand — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
VehicleCommandAck — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition
VehicleConstraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
VehicleGlobalPosition — 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.
VehicleImu — IMU readings in SI-unit form.
VehicleLocalPosition — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
VehicleLocalPositionSetpoint — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled
VehicleOdometry — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
VehicleOpticalFlow — Optical flow in XYZ body frame in SI units.
VehicleRoi — Vehicle Region Of Interest (ROI)
VehicleStatus — Encodes the system state of the vehicle published by commander
VehicleTrajectoryBezier — 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.
VehicleTrajectoryWaypoint — 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.
VelocityLimits — Velocity and yaw rate limits for a multicopter position slow mode only
VtolVehicleStatus — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE