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3
docs/en/SUMMARY.md
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@ -672,8 +672,6 @@
- [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
- [Rpm](msg_docs/Rpm.md)
- [RtlStatus](msg_docs/RtlStatus.md)
- [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
@ -695,6 +693,7 @@
- [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
- [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
- [SensorSelection](msg_docs/SensorSelection.md)
- [SensorTemp](msg_docs/SensorTemp.md)
- [SensorUwb](msg_docs/SensorUwb.md)
- [SensorsStatus](msg_docs/SensorsStatus.md)
- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)

88
docs/en/advanced_config/parameter_reference.md
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@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## ADC
### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN}
Enable ADS7953.
Enable the driver for the ADS7953 board
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV}
Applied reference Voltage.
The voltage applied to the ADS7953 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN}
Enable TLA2528.
Enable the driver for the TLA2528
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV}
Applied reference Voltage.
The voltage applied to the TLA2528 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1.
This is the scale IAS --> CAS of the first airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2}
@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2.
This is the scale IAS --> CAS of the second airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3}
@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3.
This is the scale IAS --> CAS of the third airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY}
@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion
### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}
GPS measurement delay relative to IMU measurements.
GPS measurement delay relative to IMU measurement.
GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements.
Fusion reset mode.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.
**Values:**
@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx).
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808}
Enable MCP9808 temperature sensor (external I2C).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT}
Enable Mappydot rangefinder (i2c).
@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2.0 |
### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE}
Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 0 |
### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT}
UUV Thrust setpoint Saturation.
@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I}
Backtransition deceleration setpoint to pitch I gain.
Backtransition deceleration setpoint to tilt I gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ------- |
@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN}
@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW}

2
docs/en/config_rover/basic_setup.md
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@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
One approach to determine an appropriate value is:
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.

5
docs/en/config_rover/position_tuning.md
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@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa
$v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $
with
- $v_{max}:$ Maximum speed
- $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa
::: tip
Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
- If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
- If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).
These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
:::
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
## Path Following
@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm:
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.

4
docs/en/config_rover/velocity_tuning.md
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@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced
::: tip
To further tune this parameter:
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.

486
docs/en/middleware/dds_topics.md
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@ -4,75 +4,84 @@
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
## Publications
Topic | Type| Rate Limit
--- | --- | ---
`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
| Topic | Type | Rate Limit |
| ---------------------------------------- | -------------------------------------------------------------------------------------- | ---------- |
| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 |
| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 |
| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 |
| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 |
| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 |
| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 |
| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 |
| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 |
| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 |
| `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) |
| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 |
| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 |
| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 |
| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 |
| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 |
| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 |
| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 |
| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 |
| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 |
| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 |
| `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 |
| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 |
## Subscriptions
Topic | Type
--- | ---
/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
| Topic | Type |
| ------------------------------------------ | -------------------------------------------------------------------------------------------------- |
| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) |
| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) |
| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) |
| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) |
| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) |
| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) |
| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) |
| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) |
| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) |
| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) |
| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) |
| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) |
| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) |
| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) |
| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) |
| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) |
| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) |
| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) |
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) |
| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) |
| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) |
| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) |
| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) |
| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) |
| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) |
## Subscriptions Multi
@ -85,192 +94,191 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [EventV0](../msg_docs/EventV0.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [InputRc](../msg_docs/InputRc.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [Event](../msg_docs/Event.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [Ping](../msg_docs/Ping.md)
- [LedControl](../msg_docs/LedControl.md)
- [Wind](../msg_docs/Wind.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Gripper](../msg_docs/Gripper.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [LandingGear](../msg_docs/LandingGear.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Event](../msg_docs/Event.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Rpm](../msg_docs/Rpm.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TransponderReport](../msg_docs/TransponderReport.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [Mission](../msg_docs/Mission.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
:::
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EventV0](../msg_docs/EventV0.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
:::

85
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@ -2,6 +2,7 @@
Subcategories:
- [Adc](modules_driver_adc.md)
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Baro](modules_driver_baro.md)
- [Camera](modules_driver_camera.md)
@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
### Usage {#mcp9808_usage}
```
mcp9808 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 24
stop
status print status info
```
## msp_osd
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)

107
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@ -0,0 +1,107 @@
# Modules Reference: Adc (Driver)
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
### Usage {#TLA2528_usage}
```
TLA2528 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## ads7953
Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
### Usage {#ads7953_usage}
```
ads7953 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```

20
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@ -4,10 +4,9 @@
Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
### Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
### Usage {#crsf_rc_usage}
@ -17,6 +16,10 @@ crsf_rc <command> [arguments...]
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] RC baudrate
default: 420000
inject Inject frame data bytes (for testing)
stop
@ -27,10 +30,9 @@ crsf_rc <command> [arguments...]
Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
### Description
This module does Spektrum DSM RC input parsing.
This module does Spektrum DSM RC input parsing.
### Usage {#dsm_rc_usage}
@ -52,10 +54,9 @@ dsm_rc <command> [arguments...]
Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
### Description
This module does Ghost (GHST) RC input parsing.
This module does Ghost (GHST) RC input parsing.
### Usage {#ghst_rc_usage}
@ -75,9 +76,10 @@ ghst_rc <command> [arguments...]
Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
### Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m
- ST24
- TBS Crossfire (CRSF)
### Usage {#rc_input_usage}
```
@ -106,10 +107,9 @@ rc_input <command> [arguments...]
Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
### Description
This module does SBUS RC input parsing.
This module does SBUS RC input parsing.
### Usage {#sbus_rc_usage}

18
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@ -1,15 +1,21 @@
# AdcReport (UORB message)
ADC raw data.
Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # ADC channel resolution
float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
# ADC raw data.
#
# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
uint64 timestamp # [us] Time since system start
uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles
int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # [-] ADC channel resolution
float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
```

15
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@ -1,7 +1,5 @@
# EscReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
```c
@ -18,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)

4
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@ -1,7 +1,5 @@
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
```c
@ -39,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
```

15
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@ -1,15 +0,0 @@
# RoverVelocitySetpoint (UORB message)
Rover Velocity Setpoint
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
```c
# Rover Velocity Setpoint
uint64 timestamp # [us] Time since system start
float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint
```

18
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@ -1,18 +0,0 @@
# RoverVelocityStatus (UORB message)
Rover Velocity Status
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
```c
# Rover Velocity Status
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
```

11
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@ -0,0 +1,11 @@
# SensorTemp (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 temperature # Temperature provided by sensor (Celsius)
```

2
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@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|

3
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@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.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
@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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.