# uORB Message Reference
Note
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.
- ActionRequest
- ActuatorArmed
- ActuatorControlsStatus
- ActuatorMotors — Motor control message
- ActuatorOutputs
- ActuatorServos — Servo control message
- ActuatorServosTrim — Servo trims, added as offset to servo outputs
- ActuatorTest
- AdcReport
- Airspeed
- AirspeedValidated
- AirspeedWind
- AutotuneAttitudeControlStatus
- BatteryStatus
- ButtonEvent
- CameraCapture
- CameraStatus
- CameraTrigger
- CellularStatus
- CollisionConstraints — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
- CollisionReport
- ControlAllocatorStatus
- Cpuload
- DebugArray
- DebugKeyValue
- DebugValue
- DebugVect
- DifferentialPressure
- 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.
- EscReport
- EscStatus
- EstimatorAidSource1d
- EstimatorAidSource2d
- EstimatorAidSource3d
- EstimatorBias
- EstimatorBias3d
- EstimatorEventFlags
- EstimatorGpsStatus
- EstimatorInnovations
- EstimatorSelectorStatus
- 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).
- EstimatorStates
- EstimatorStatus
- EstimatorStatusFlags
- Event — Events interface
- FailsafeFlags — Input flags for the failsafe state machine set by the arming & health checks.
- FailureDetectorStatus
- FollowTarget
- FollowTargetEstimator
- FollowTargetStatus
- GeneratorStatus
- GeofenceResult
- GimbalControls
- GimbalDeviceAttitudeStatus
- GimbalDeviceInformation
- GimbalDeviceSetAttitude
- GimbalManagerInformation
- GimbalManagerSetAttitude
- GimbalManagerSetManualControl
- GimbalManagerStatus
- GpsDump — This message is used to dump the raw gps communication to the log. Set the parameter GPS_DUMP_COMM to 1 to use this.
- GpsInjectData
- Gripper — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
- HealthReport
- HeaterStatus
- HomePosition — GPS home position in WGS84 coordinates.
- HoverThrustEstimate
- InputRc
- InternalCombustionEngineStatus
- IridiumsbdStatus
- IrlockReport — IRLOCK_REPORT message data
- LandingGear
- LandingGearWheel
- LandingTargetInnovations
- 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,ERR,INFO}
- LoggerStatus
- MagWorkerData
- MagnetometerBiasEstimate
- ManualControlSetpoint
- ManualControlSwitches
- MavlinkLog
- MavlinkTunnel — MAV_TUNNEL_PAYLOAD_TYPE enum
- Mission
- MissionResult
- ModeCompleted — Mode completion result, published by an active mode. Note that this is not always published (e.g. when a user switches modes or on failsafe activation)
- MountOrientation
- NavigatorMissionItem
- NormalizedUnsignedSetpoint
- NpfgStatus
- ObstacleDistance — Obstacle distances in front of the sensor.
- OffboardControlMode — Off-board control mode
- OnboardComputerStatus — ONBOARD_COMPUTER_STATUS message data
- OrbTest
- OrbTestLarge
- OrbTestMedium
- OrbitStatus — ORBIT_YAW_BEHAVIOUR
- ParameterUpdate — This message is used to notify the system about one or more parameter changes
- Ping
- PositionControllerLandingStatus
- PositionControllerStatus
- 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
- PpsCapture
- PwmInput
- Px4ioStatus
- QshellReq
- QshellRetval
- RadioStatus
- RateCtrlStatus
- RcChannels
- RcParameterMap
- Rpm
- RtlTimeEstimate
- SatelliteInfo
- SensorAccel
- SensorAccelFifo
- SensorBaro
- 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)
- SensorGyro
- SensorGyroFft
- SensorGyroFifo
- SensorHygrometer
- SensorMag
- SensorOpticalFlow
- 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.
- SystemPower
- TakeoffStatus — Status of the takeoff state machine currently just available for multicopters
- TaskStackInfo — stack information for a single running process
- TecsStatus
- TelemetryStatus
- TiltrotorExtraControls
- TimesyncStatus
- 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
- TransponderReport
- 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
- VehicleAcceleration
- VehicleAirData
- VehicleAngularAccelerationSetpoint
- VehicleAngularVelocity
- VehicleAttitude — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
- VehicleAttitudeSetpoint
- 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
- VehicleControlMode
- 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.
- VehicleImuStatus
- VehicleLandDetected
- 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
- VehicleMagnetometer
- VehicleOdometry — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
- VehicleOpticalFlow — Optical flow in XYZ body frame in SI units.
- VehicleOpticalFlowVel
- VehicleRatesSetpoint
- VehicleRoi — Vehicle Region Of Interest (ROI)
- VehicleStatus — Encodes the system state of the vehicle published by commander
- VehicleThrustSetpoint
- VehicleTorqueSetpoint
- 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.
- VtolVehicleStatus — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
- Wind
- YawEstimatorStatus