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PX4-Autopilot/docs/en/middleware/index.md
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Middleware

This section contains topics about PX4 middleware, including PX4 internal communication mechanisms (uORB), and between PX4 and offboard systems like companion computers and GCS (e.g. MAVLink, uXRCE-DDS).

:::tip For a detailed overview of the platform architecture see the Architectural Overview. :::