uORB Message Reference

注解

This list is auto-generated (opens new window) 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.

• action_request
• actuator_armed
• actuator_controls
• actuator_controls_status
• actuator_motors — Motor control message
• actuator_outputs
• actuator_servos — Servo control message
• actuator_servos_trim — Servo trims, added as offset to servo outputs
• actuator_test
• adc_report
• airspeed
• airspeed_validated
• airspeed_wind
• autotune_attitude_control_status
• battery_status
• button_event
• camera_capture
• camera_status
• camera_trigger
• cellular_status
• collision_constraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
• collision_report
• commander_state — Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
• control_allocator_status
• cpuload
• debug_array
• debug_key_value
• debug_value
• debug_vect
• differential_pressure
• 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.
• esc_report
• esc_status
• estimator_aid_source_1d
• estimator_aid_source_2d
• estimator_aid_source_3d
• estimator_baro_bias
• estimator_event_flags
• estimator_gps_status
• estimator_innovations
• estimator_selector_status
• 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).
• estimator_states
• estimator_status
• estimator_status_flags
• event — Events interface
• failure_detector_status
• follow_target
• follow_target_estimator
• follow_target_status
• generator_status
• geofence_result
• gimbal_device_attitude_status
• gimbal_device_information
• gimbal_device_set_attitude
• gimbal_manager_information
• gimbal_manager_set_attitude
• gimbal_manager_set_manual_control
• gimbal_manager_status
• 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.
• gps_inject_data
• heater_status
• home_position — GPS home position in WGS84 coordinates.
• hover_thrust_estimate
• input_rc
• internal_combustion_engine_status
• iridiumsbd_status
• irlock_report — IRLOCK_REPORT message data
• landing_gear
• landing_target_innovations
• 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}
• logger_status
• mag_worker_data
• magnetometer_bias_estimate
• manual_control_setpoint
• manual_control_switches
• mavlink_log
• mavlink_tunnel — MAV_TUNNEL_PAYLOAD_TYPE enum
• mission
• mission_result
• mount_orientation
• navigator_mission_item
• npfg_status
• obstacle_distance — Obstacle distances in front of the sensor.
• offboard_control_mode — Off-board control mode
• onboard_computer_status — ONBOARD_COMPUTER_STATUS message data
• orb_test
• orb_test_large
• orb_test_medium
• orbit_status — ORBIT_YAW_BEHAVIOUR
• parameter_update — This message is used to notify the system about one or more parameter changes
• ping
• position_controller_landing_status
• position_controller_status
• 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
• pps_capture
• pwm_input
• px4io_status
• radio_status
• rate_ctrl_status
• rc_channels
• rc_parameter_map
• rpm
• rtl_time_estimate
• satellite_info
• sensor_accel
• sensor_accel_fifo
• sensor_baro
• 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_gnss_relative — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
• sensor_gps — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
• sensor_gyro
• sensor_gyro_fft
• sensor_gyro_fifo
• sensor_hygrometer
• sensor_mag
• sensor_optical_flow
• 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 — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
• sensors_status_imu — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
• system_power
• takeoff_status — Status of the takeoff state machine currently just availble for multicopters
• task_stack_info — stack information for a single running process
• tecs_status
• telemetry_status
• test_motor
• timesync
• timesync_status
• trajectory_bezier — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
• trajectory_setpoint — 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
• trajectory_waypoint — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
• transponder_report
• 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
• uwb_distance — UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
• uwb_grid — UWB report message contains the grid information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
• vehicle_acceleration
• vehicle_air_data
• vehicle_angular_acceleration
• vehicle_angular_acceleration_setpoint
• vehicle_angular_velocity
• vehicle_attitude — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
• vehicle_attitude_setpoint
• vehicle_command
• vehicle_command_ack
• vehicle_constraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
• vehicle_control_mode
• 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_imu — IMU readings in SI-unit form.
• vehicle_imu_status
• vehicle_land_detected
• 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 Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled
• vehicle_magnetometer
• vehicle_odometry — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
• vehicle_optical_flow — Optical flow in XYZ body frame in SI units.
• vehicle_optical_flow_vel
• vehicle_rates_setpoint
• vehicle_roi — Vehicle Region Of Interest (ROI)
• vehicle_status
• vehicle_status_flags — This is a struct used by the commander internally.
• vehicle_thrust_setpoint
• vehicle_torque_setpoint
• 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
• wheel_encoders
• wind
• yaw_estimator_status