# uORB Message Reference

::: info
This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) 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](../ros/ros2_comm.md)).

[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment.
These messages are most likely shared through the PX4-ROS 2 Bridge.

Graphs showing how these are used [can be found here](../middleware/uorb_graph.md).

## Versioned Messages

- [ActuatorMotors](ActuatorMotors.md) — Motor control message.
- [ActuatorServos](ActuatorServos.md) — Servo control message.
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed.
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
- [AuxGlobalPosition](AuxGlobalPosition.md) — Auxiliary global position.
- [BatteryStatus](BatteryStatus.md) — Battery status.
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors.
- [Event](Event.md) — Events interface.
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message.
- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message.
- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints.
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message.
- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message.
- [ManualControlSetpoint](ManualControlSetpoint.md)
- [ModeCompleted](ModeCompleted.md) — 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).
- [RaptorInput](RaptorInput.md) — Raptor Input.
- [RaptorStatus](RaptorStatus.md) — Raptor Status.
- [RegisterExtComponentReply](RegisterExtComponentReply.md)
- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component.
- [TrajectorySetpoint](TrajectorySetpoint.md) — 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.
- [UnregisterExtComponent](UnregisterExtComponent.md)
- [VehicleAngularVelocity](VehicleAngularVelocity.md)
- [VehicleAttitude](VehicleAttitude.md) — 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).
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition.
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message.
- [VehicleControlMode](VehicleControlMode.md)
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — 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.
- [VehicleLandDetected](VehicleLandDetected.md)
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data.
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander.
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE.
- [Wind](Wind.md) — Wind estimate (from EKF2).

## Unversioned Messages

- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state.
- [ActuatorArmed](ActuatorArmed.md)
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs.
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md) — ADC raw data.
- [Airspeed](Airspeed.md) — Airspeed data from sensors.
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector).
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status.
- [BatteryInfo](BatteryInfo.md) — Battery information.
- [ButtonEvent](ButtonEvent.md)
- [CameraCapture](CameraCapture.md)
- [CameraStatus](CameraStatus.md)
- [CameraTrigger](CameraTrigger.md)
- [CanInterfaceStatus](CanInterfaceStatus.md)
- [CellularStatus](CellularStatus.md) — Cellular status.
- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
- [ControlAllocatorStatus](ControlAllocatorStatus.md)
- [Cpuload](Cpuload.md)
- [DatamanRequest](DatamanRequest.md)
- [DatamanResponse](DatamanResponse.md)
- [DebugArray](DebugArray.md)
- [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md)
- [DeviceInformation](DeviceInformation.md) — Device information.
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor.
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data.
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
- [DronecanNodeStatus](DronecanNodeStatus.md)
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
- [EscEepromRead](EscEepromRead.md)
- [EscEepromWrite](EscEepromWrite.md)
- [EscReport](EscReport.md)
- [EscStatus](EscStatus.md)
- [EstimatorAidSource1d](EstimatorAidSource1d.md)
- [EstimatorAidSource2d](EstimatorAidSource2d.md)
- [EstimatorAidSource3d](EstimatorAidSource3d.md)
- [EstimatorBias](EstimatorBias.md)
- [EstimatorBias3d](EstimatorBias3d.md)
- [EstimatorEventFlags](EstimatorEventFlags.md)
- [EstimatorFusionControl](EstimatorFusionControl.md)
- [EstimatorGpsStatus](EstimatorGpsStatus.md)
- [EstimatorInnovations](EstimatorInnovations.md)
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
- [EstimatorSensorBias](EstimatorSensorBias.md) — 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](EstimatorStates.md)
- [EstimatorStatus](EstimatorStatus.md)
- [EstimatorStatusFlags](EstimatorStatusFlags.md)
- [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks.
- [FailureDetectorStatus](FailureDetectorStatus.md)
- [FigureEightStatus](FigureEightStatus.md)
- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing.
- [FlightPhaseEstimation](FlightPhaseEstimation.md)
- [FollowTarget](FollowTarget.md)
- [FollowTargetEstimator](FollowTargetEstimator.md)
- [FollowTargetStatus](FollowTargetStatus.md)
- [FuelTankStatus](FuelTankStatus.md)
- [GainCompression](GainCompression.md)
- [GeneratorStatus](GeneratorStatus.md)
- [GeofenceResult](GeofenceResult.md)
- [GeofenceStatus](GeofenceStatus.md)
- [GimbalControls](GimbalControls.md)
- [GimbalDeviceAttitudeStatus](GimbalDeviceAttitudeStatus.md)
- [GimbalDeviceInformation](GimbalDeviceInformation.md)
- [GimbalDeviceSetAttitude](GimbalDeviceSetAttitude.md)
- [GimbalManagerInformation](GimbalManagerInformation.md)
- [GimbalManagerSetAttitude](GimbalManagerSetAttitude.md)
- [GimbalManagerSetManualControl](GimbalManagerSetManualControl.md)
- [GimbalManagerStatus](GimbalManagerStatus.md)
- [GpioConfig](GpioConfig.md) — GPIO configuration.
- [GpioIn](GpioIn.md) — GPIO mask and state.
- [GpioOut](GpioOut.md) — GPIO mask and state.
- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read.
- [GpsDump](GpsDump.md) — This message is used to dump the raw gps communication to the log.
- [GpsInjectData](GpsInjectData.md)
- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module.
- [HealthReport](HealthReport.md)
- [HeaterStatus](HeaterStatus.md)
- [HoverThrustEstimate](HoverThrustEstimate.md)
- [InputRc](InputRc.md)
- [InternalCombustionEngineControl](InternalCombustionEngineControl.md)
- [InternalCombustionEngineStatus](InternalCombustionEngineStatus.md)
- [IridiumsbdStatus](IridiumsbdStatus.md)
- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data.
- [LandingGear](LandingGear.md)
- [LandingGearWheel](LandingGearWheel.md)
- [LandingTargetInnovations](LandingTargetInnovations.md)
- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only).
- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's.
- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO.
- [LoggerStatus](LoggerStatus.md)
- [MagWorkerData](MagWorkerData.md)
- [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md)
- [ManualControlSwitches](ManualControlSwitches.md)
- [MavlinkLog](MavlinkLog.md)
- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum.
- [MessageFormatRequest](MessageFormatRequest.md)
- [MessageFormatResponse](MessageFormatResponse.md)
- [Mission](Mission.md)
- [MissionResult](MissionResult.md)
- [MountOrientation](MountOrientation.md)
- [NavigatorMissionItem](NavigatorMissionItem.md)
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode. The possible values of nav_state are defined in the VehicleStatus msg.
- [NeuralControl](NeuralControl.md) — Neural control.
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode.
- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data.
- [OpenDroneIdArmStatus](OpenDroneIdArmStatus.md)
- [OpenDroneIdOperatorId](OpenDroneIdOperatorId.md)
- [OpenDroneIdSelfId](OpenDroneIdSelfId.md)
- [OpenDroneIdSystem](OpenDroneIdSystem.md)
- [OrbTest](OrbTest.md)
- [OrbTestLarge](OrbTestLarge.md)
- [OrbTestMedium](OrbTestMedium.md)
- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR.
- [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote.
- [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary.
- [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end.
- [ParameterSetValueResponse](ParameterSetValueResponse.md) — ParameterSetValueResponse : Response to a set value request by either primary or secondary.
- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes.
- [Ping](Ping.md)
- [PositionControllerLandingStatus](PositionControllerLandingStatus.md)
- [PositionControllerStatus](PositionControllerStatus.md)
- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency.
- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
- [PowerButtonState](PowerButtonState.md) — power button state notification message.
- [PowerMonitor](PowerMonitor.md) — power monitor message.
- [PpsCapture](PpsCapture.md)
- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status.
- [PwmInput](PwmInput.md)
- [Px4ioStatus](Px4ioStatus.md)
- [QshellReq](QshellReq.md)
- [QshellRetval](QshellRetval.md)
- [RadioStatus](RadioStatus.md)
- [RangingBeacon](RangingBeacon.md) — Ranging beacon measurement data (e.g. LoRa, UWB).
- [RateCtrlStatus](RateCtrlStatus.md)
- [RcChannels](RcChannels.md)
- [RcParameterMap](RcParameterMap.md)
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint.
- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status.
- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint.
- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint.
- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status.
- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint.
- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status.
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint.
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint.
- [Rpm](Rpm.md)
- [RtlStatus](RtlStatus.md)
- [RtlTimeEstimate](RtlTimeEstimate.md)
- [SatelliteInfo](SatelliteInfo.md)
- [SensorAccel](SensorAccel.md)
- [SensorAccelFifo](SensorAccelFifo.md)
- [SensorAirflow](SensorAirflow.md)
- [SensorBaro](SensorBaro.md) — Barometer sensor.
- [SensorCombined](SensorCombined.md) — 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](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor.
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators.
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds).
- [SensorGyro](SensorGyro.md)
- [SensorGyroFft](SensorGyroFft.md)
- [SensorGyroFifo](SensorGyroFifo.md)
- [SensorHygrometer](SensorHygrometer.md)
- [SensorMag](SensorMag.md)
- [SensorOpticalFlow](SensorOpticalFlow.md)
- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed.
- [SensorSelection](SensorSelection.md) — 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.
- [SensorTemp](SensorTemp.md)
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
- [SystemPower](SystemPower.md)
- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters.
- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process.
- [TecsStatus](TecsStatus.md)
- [TelemetryStatus](TelemetryStatus.md)
- [TiltrotorExtraControls](TiltrotorExtraControls.md)
- [TimesyncStatus](TimesyncStatus.md)
- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame. Input to position controller.
- [TransponderReport](TransponderReport.md)
- [TuneControl](TuneControl.md) — 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](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type.
- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type.
- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. mavlink message.
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set.
- [VehicleAcceleration](VehicleAcceleration.md)
- [VehicleAirData](VehicleAirData.md) — Vehicle air data.
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
- [VehicleImuStatus](VehicleImuStatus.md)
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.
- [VehicleMagnetometer](VehicleMagnetometer.md)
- [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units.
- [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md)
- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI).
- [VehicleThrustSetpoint](VehicleThrustSetpoint.md)
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only.
- [Vtx](Vtx.md)
- [WheelEncoders](WheelEncoders.md)
- [YawEstimatorStatus](YawEstimatorStatus.md)
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
- [BatteryStatusV0](BatteryStatusV0.md) — Battery status.
- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors.
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it. Events interface.
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component.
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition.
- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — 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.
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander.
- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander.
