# Middleware

This section contains topics about PX4 middleware, including PX4 internal communication mechanisms ([uORB](https://px4.gitbook.io/px4-user-guide/development/middleware/uorb)), and between PX4 and offboard systems like companion computers and GCS (e.g. [MAVLink](https://px4.gitbook.io/px4-user-guide/development/middleware/mavlink), [uXRCE-DDS](https://px4.gitbook.io/px4-user-guide/development/middleware/uxrce_dds)).

:::tip For a detailed overview of the platform architecture see the [Architectural Overview](https://px4.gitbook.io/px4-user-guide/development/concept/architecture). :::


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