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# Mission (UORB message)

**TOPICS:** mission

## Fields

| Name                 | Type     | Unit [Frame] | Range/Enum | Description                                                                         |
| -------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------- |
| timestamp            | `uint64` |              |            | time since system start (microseconds)                                              |
| mission_dataman_id   | `uint8`  |              |            | default 0, there are two offboard storage places in the dataman: 0 or 1             |
| fence_dataman_id     | `uint8`  |              |            | default 0, there are two offboard storage places in the dataman: 0 or 1             |
| safepoint_dataman_id | `uint8`  |              |            | default 0, there are two offboard storage places in the dataman: 0 or 1             |
| count                | `uint16` |              |            | count of the missions stored in the dataman                                         |
| current_seq          | `int32`  |              |            | default -1, start at the one changed latest                                         |
| land_start_index     | `int32`  |              |            | Index of the land start marker, if unavailable index of the land item, -1 otherwise |
| land_index           | `int32`  |              |            | Index of the land item, -1 otherwise                                                |
| mission_id           | `uint32` |              |            | indicates updates to the mission, reload from dataman if changed                    |
| geofence_id          | `uint32` |              |            | indicates updates to the geofence, reload from dataman if changed                   |
| safe_points_id       | `uint32` |              |            | indicates updates to the safe points, reload from dataman if changed                |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Mission.msg)

::: details Click here to see original file

```c
uint64 timestamp	# time since system start (microseconds)
uint8 mission_dataman_id	# default 0, there are two offboard storage places in the dataman: 0 or 1
uint8 fence_dataman_id		# default 0, there are two offboard storage places in the dataman: 0 or 1
uint8 safepoint_dataman_id	# default 0, there are two offboard storage places in the dataman: 0 or 1

uint16 count		# count of the missions stored in the dataman
int32 current_seq	# default -1, start at the one changed latest

int32 land_start_index  # Index of the land start marker, if unavailable index of the land item, -1 otherwise
int32 land_index 	# Index of the land item, -1 otherwise

uint32 mission_id # indicates updates to the mission, reload from dataman if changed
uint32 geofence_id # indicates updates to the geofence, reload from dataman if changed
uint32 safe_points_id # indicates updates to the safe points, reload from dataman if changed
```

:::
