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
• DatamanRequest
• DatamanResponse
• 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
• 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. 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