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PX4-Autopilot/docs/en/msg_docs/TransponderReport.md
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---
pageClass: is-wide-page
---
# TransponderReport (UORB message)
**TOPICS:** transponder_report
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| icao_address | `uint32` | | | ICAO address |
| lat | `float64` | | | Latitude, expressed as degrees |
| lon | `float64` | | | Longitude, expressed as degrees |
| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum |
| altitude | `float32` | | | Altitude(ASL) in meters |
| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north |
| hor_velocity | `float32` | | | The horizontal velocity in m/s |
| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up |
| callsign | `char[9]` | | | The callsign, 8+null |
| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum |
| tslc | `uint8` | | | Time since last communication in seconds |
| flags | `uint16` | | | Flags to indicate various statuses including valid data fields |
| squawk | `uint16` | | | Squawk code |
| uas_id | `uint8[18]` | | | Unique UAS ID |
## Constants
| Name | Type | Value | Description |
| ------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
| <a id="#PX4_ADSB_FLAGS_VALID_COORDS"></a> PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 |
| <a id="#PX4_ADSB_FLAGS_VALID_ALTITUDE"></a> PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 |
| <a id="#PX4_ADSB_FLAGS_VALID_HEADING"></a> PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 |
| <a id="#PX4_ADSB_FLAGS_VALID_VELOCITY"></a> PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 |
| <a id="#PX4_ADSB_FLAGS_VALID_CALLSIGN"></a> PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 |
| <a id="#PX4_ADSB_FLAGS_VALID_SQUAWK"></a> PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 |
| <a id="#PX4_ADSB_FLAGS_RETRANSLATE"></a> PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 |
| <a id="#ADSB_EMITTER_TYPE_NO_INFO"></a> ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 |
| <a id="#ADSB_EMITTER_TYPE_LIGHT"></a> ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 |
| <a id="#ADSB_EMITTER_TYPE_SMALL"></a> ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 |
| <a id="#ADSB_EMITTER_TYPE_LARGE"></a> ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 |
| <a id="#ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE"></a> ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 |
| <a id="#ADSB_EMITTER_TYPE_HEAVY"></a> ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 |
| <a id="#ADSB_EMITTER_TYPE_HIGHLY_MANUV"></a> ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 |
| <a id="#ADSB_EMITTER_TYPE_ROTOCRAFT"></a> ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 |
| <a id="#ADSB_EMITTER_TYPE_UNASSIGNED"></a> ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 |
| <a id="#ADSB_EMITTER_TYPE_GLIDER"></a> ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 |
| <a id="#ADSB_EMITTER_TYPE_LIGHTER_AIR"></a> ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 |
| <a id="#ADSB_EMITTER_TYPE_PARACHUTE"></a> ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 |
| <a id="#ADSB_EMITTER_TYPE_ULTRA_LIGHT"></a> ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 |
| <a id="#ADSB_EMITTER_TYPE_UNASSIGNED2"></a> ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 |
| <a id="#ADSB_EMITTER_TYPE_UAV"></a> ADSB_EMITTER_TYPE_UAV | `uint16` | 14 |
| <a id="#ADSB_EMITTER_TYPE_SPACE"></a> ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 |
| <a id="#ADSB_EMITTER_TYPE_UNASSGINED3"></a> ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 |
| <a id="#ADSB_EMITTER_TYPE_EMERGENCY_SURFACE"></a> ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 |
| <a id="#ADSB_EMITTER_TYPE_SERVICE_SURFACE"></a> ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 |
| <a id="#ADSB_EMITTER_TYPE_POINT_OBSTACLE"></a> ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 |
| <a id="#ADSB_EMITTER_TYPE_ENUM_END"></a> ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TransponderReport.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
uint32 icao_address # ICAO address
float64 lat # Latitude, expressed as degrees
float64 lon # Longitude, expressed as degrees
uint8 altitude_type # Type from ADSB_ALTITUDE_TYPE enum
float32 altitude # Altitude(ASL) in meters
float32 heading # Course over ground in radians, 0 to 2pi, 0 is north
float32 hor_velocity # The horizontal velocity in m/s
float32 ver_velocity # The vertical velocity in m/s, positive is up
char[9] callsign # The callsign, 8+null
uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
uint8 tslc # Time since last communication in seconds
uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code
uint8[18] uas_id # Unique UAS ID
# ADSB flags
uint16 PX4_ADSB_FLAGS_VALID_COORDS = 1
uint16 PX4_ADSB_FLAGS_VALID_ALTITUDE = 2
uint16 PX4_ADSB_FLAGS_VALID_HEADING = 4
uint16 PX4_ADSB_FLAGS_VALID_VELOCITY = 8
uint16 PX4_ADSB_FLAGS_VALID_CALLSIGN = 16
uint16 PX4_ADSB_FLAGS_VALID_SQUAWK = 32
uint16 PX4_ADSB_FLAGS_RETRANSLATE = 256
#ADSB Emitter Data:
#from mavlink/v2.0/common/common.h
uint16 ADSB_EMITTER_TYPE_NO_INFO=0
uint16 ADSB_EMITTER_TYPE_LIGHT=1
uint16 ADSB_EMITTER_TYPE_SMALL=2
uint16 ADSB_EMITTER_TYPE_LARGE=3
uint16 ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE=4
uint16 ADSB_EMITTER_TYPE_HEAVY=5
uint16 ADSB_EMITTER_TYPE_HIGHLY_MANUV=6
uint16 ADSB_EMITTER_TYPE_ROTOCRAFT=7
uint16 ADSB_EMITTER_TYPE_UNASSIGNED=8
uint16 ADSB_EMITTER_TYPE_GLIDER=9
uint16 ADSB_EMITTER_TYPE_LIGHTER_AIR=10
uint16 ADSB_EMITTER_TYPE_PARACHUTE=11
uint16 ADSB_EMITTER_TYPE_ULTRA_LIGHT=12
uint16 ADSB_EMITTER_TYPE_UNASSIGNED2=13
uint16 ADSB_EMITTER_TYPE_UAV=14
uint16 ADSB_EMITTER_TYPE_SPACE=15
uint16 ADSB_EMITTER_TYPE_UNASSGINED3=16
uint16 ADSB_EMITTER_TYPE_EMERGENCY_SURFACE=17
uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
uint16 ADSB_EMITTER_TYPE_ENUM_END=20
uint8 ORB_QUEUE_LENGTH = 16
```
:::
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