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docs/en/msg_docs/RegisterExtComponentRequest.md
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@@ -1,8 +1,42 @@
---
pageClass: is-wide-page
---
# RegisterExtComponentRequest (UORB message)
Request to register an external component
Request to register an external component.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg)
**TOPICS:** register_extcomponent_request
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_id | `uint64` | | | ID, set this to a random value |
| name | `char[25]` | | | either the requested mode name, or component name |
| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION |
| register_arming_check | `bool` | | |
| register_mode | `bool` | | | registering a mode also requires arming_check to be set |
| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) |
| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced |
| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* |
| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) |
| not_user_selectable | `bool` | | | mode cannot be selected by the user |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 |
| <a href="#LATEST_PX4_ROS2_API_VERSION"></a> LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg)
::: details Click here to see original file
```c
# Request to register an external component
@@ -29,5 +63,6 @@ bool activate_mode_immediately # switch to the registered mode (can only be
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2
```
:::