# uORB Message Reference

:::note This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code. :::

This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../../robotics/ros/ros2/ros2_comm)). Graphs showing how these are used [can be found here](uorb_graph).

* [ActionRequest](msg_docs/actionrequest)
* [ActuatorArmed](msg_docs/actuatorarmed)
* [ActuatorControlsStatus](msg_docs/actuatorcontrolsstatus)
* [ActuatorMotors](msg_docs/actuatormotors) — Motor control message
* [ActuatorOutputs](msg_docs/actuatoroutputs)
* [ActuatorServos](msg_docs/actuatorservos) — Servo control message
* [ActuatorServosTrim](msg_docs/actuatorservostrim) — Servo trims, added as offset to servo outputs
* [ActuatorTest](msg_docs/actuatortest)
* [AdcReport](msg_docs/adcreport)
* [Airspeed](msg_docs/airspeed)
* [AirspeedValidated](msg_docs/airspeedvalidated)
* [AirspeedWind](msg_docs/airspeedwind)
* [AutotuneAttitudeControlStatus](msg_docs/autotuneattitudecontrolstatus)
* [BatteryStatus](msg_docs/batterystatus)
* [ButtonEvent](msg_docs/buttonevent)
* [CameraCapture](msg_docs/cameracapture)
* [CameraStatus](msg_docs/camerastatus)
* [CameraTrigger](msg_docs/cameratrigger)
* [CellularStatus](msg_docs/cellularstatus)
* [CollisionConstraints](msg_docs/collisionconstraints) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
* [CollisionReport](msg_docs/collisionreport)
* [ControlAllocatorStatus](msg_docs/controlallocatorstatus)
* [Cpuload](msg_docs/cpuload)
* [DatamanRequest](https://github.com/hamishwillee/PX4-user_guide/blob/gitbook_sync/en/msg_docs/DatamanRequest.md)
* [DatamanResponse](https://github.com/hamishwillee/PX4-user_guide/blob/gitbook_sync/en/msg_docs/DatamanResponse.md)
* [DebugArray](msg_docs/debugarray)
* [DebugKeyValue](msg_docs/debugkeyvalue)
* [DebugValue](msg_docs/debugvalue)
* [DebugVect](msg_docs/debugvect)
* [DifferentialPressure](msg_docs/differentialpressure)
* [DistanceSensor](msg_docs/distancesensor) — DISTANCE\_SENSOR message data
* [Ekf2Timestamps](msg_docs/ekf2timestamps) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
* [EscReport](msg_docs/escreport)
* [EscStatus](msg_docs/escstatus)
* [EstimatorAidSource1d](msg_docs/estimatoraidsource1d)
* [EstimatorAidSource2d](msg_docs/estimatoraidsource2d)
* [EstimatorAidSource3d](msg_docs/estimatoraidsource3d)
* [EstimatorBias](msg_docs/estimatorbias)
* [EstimatorBias3d](msg_docs/estimatorbias3d)
* [EstimatorEventFlags](msg_docs/estimatoreventflags)
* [EstimatorGpsStatus](msg_docs/estimatorgpsstatus)
* [EstimatorInnovations](msg_docs/estimatorinnovations)
* [EstimatorSelectorStatus](msg_docs/estimatorselectorstatus)
* [EstimatorSensorBias](msg_docs/estimatorsensorbias) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
* [EstimatorStates](msg_docs/estimatorstates)
* [EstimatorStatus](msg_docs/estimatorstatus)
* [EstimatorStatusFlags](msg_docs/estimatorstatusflags)
* [Event](msg_docs/event) — Events interface
* [FailsafeFlags](msg_docs/failsafeflags) — Input flags for the failsafe state machine set by the arming & health checks.
* [FailureDetectorStatus](msg_docs/failuredetectorstatus)
* [FollowTarget](msg_docs/followtarget)
* [FollowTargetEstimator](msg_docs/followtargetestimator)
* [FollowTargetStatus](msg_docs/followtargetstatus)
* [GeneratorStatus](msg_docs/generatorstatus)
* [GeofenceResult](msg_docs/geofenceresult)
* [GimbalControls](msg_docs/gimbalcontrols)
* [GimbalDeviceAttitudeStatus](msg_docs/gimbaldeviceattitudestatus)
* [GimbalDeviceInformation](msg_docs/gimbaldeviceinformation)
* [GimbalDeviceSetAttitude](msg_docs/gimbaldevicesetattitude)
* [GimbalManagerInformation](msg_docs/gimbalmanagerinformation)
* [GimbalManagerSetAttitude](msg_docs/gimbalmanagersetattitude)
* [GimbalManagerSetManualControl](msg_docs/gimbalmanagersetmanualcontrol)
* [GimbalManagerStatus](msg_docs/gimbalmanagerstatus)
* [GpioConfig](msg_docs/gpioconfig) — GPIO configuration
* [GpioIn](msg_docs/gpioin) — GPIO mask and state
* [GpioOut](msg_docs/gpioout) — GPIO mask and state
* [GpioRequest](msg_docs/gpiorequest) — Request GPIO mask to be read
* [GpsDump](msg_docs/gpsdump) — This message is used to dump the raw gps communication to the log. Set the parameter GPS\_DUMP\_COMM to 1 to use this.
* [GpsInjectData](msg_docs/gpsinjectdata)
* [Gripper](msg_docs/gripper) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
* [HealthReport](msg_docs/healthreport)
* [HeaterStatus](msg_docs/heaterstatus)
* [HomePosition](msg_docs/homeposition) — GPS home position in WGS84 coordinates.
* [HoverThrustEstimate](msg_docs/hoverthrustestimate)
* [InputRc](msg_docs/inputrc)
* [InternalCombustionEngineStatus](msg_docs/internalcombustionenginestatus)
* [IridiumsbdStatus](msg_docs/iridiumsbdstatus)
* [IrlockReport](msg_docs/irlockreport) — IRLOCK\_REPORT message data
* [LandingGear](msg_docs/landinggear)
* [LandingGearWheel](msg_docs/landinggearwheel)
* [LandingTargetInnovations](msg_docs/landingtargetinnovations)
* [LandingTargetPose](msg_docs/landingtargetpose) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
* [LaunchDetectionStatus](msg_docs/launchdetectionstatus) — Status of the launch detection state machine (fixed-wing only)
* [LedControl](msg_docs/ledcontrol) — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's
* [LogMessage](msg_docs/logmessage) — A logging message, output with PX4\_{WARN,ERR,INFO}
* [LoggerStatus](msg_docs/loggerstatus)
* [MagWorkerData](msg_docs/magworkerdata)
* [MagnetometerBiasEstimate](msg_docs/magnetometerbiasestimate)
* [ManualControlSetpoint](msg_docs/manualcontrolsetpoint)
* [ManualControlSwitches](msg_docs/manualcontrolswitches)
* [MavlinkLog](msg_docs/mavlinklog)
* [MavlinkTunnel](msg_docs/mavlinktunnel) — MAV\_TUNNEL\_PAYLOAD\_TYPE enum
* [Mission](msg_docs/mission)
* [MissionResult](msg_docs/missionresult)
* [ModeCompleted](msg_docs/modecompleted) — Mode completion result, published by an active mode. Note that this is not always published (e.g. when a user switches modes or on failsafe activation)
* [MountOrientation](msg_docs/mountorientation)
* [NavigatorMissionItem](msg_docs/navigatormissionitem)
* [NormalizedUnsignedSetpoint](msg_docs/normalizedunsignedsetpoint)
* [NpfgStatus](msg_docs/npfgstatus)
* [ObstacleDistance](msg_docs/obstacledistance) — Obstacle distances in front of the sensor.
* [OffboardControlMode](msg_docs/offboardcontrolmode) — Off-board control mode
* [OnboardComputerStatus](msg_docs/onboardcomputerstatus) — ONBOARD\_COMPUTER\_STATUS message data
* [OrbTest](msg_docs/orbtest)
* [OrbTestLarge](msg_docs/orbtestlarge)
* [OrbTestMedium](msg_docs/orbtestmedium)
* [OrbitStatus](msg_docs/orbitstatus) — ORBIT\_YAW\_BEHAVIOUR
* [ParameterUpdate](msg_docs/parameterupdate) — This message is used to notify the system about one or more parameter changes
* [Ping](msg_docs/ping)
* [PositionControllerLandingStatus](msg_docs/positioncontrollerlandingstatus)
* [PositionControllerStatus](msg_docs/positioncontrollerstatus)
* [PositionSetpoint](msg_docs/positionsetpoint) — this file is only used in the position\_setpoint triple as a dependency
* [PositionSetpointTriplet](msg_docs/positionsetpointtriplet) — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one).
* [PowerButtonState](msg_docs/powerbuttonstate) — power button state notification message
* [PowerMonitor](msg_docs/powermonitor) — power monitor message
* [PpsCapture](msg_docs/ppscapture)
* [PwmInput](msg_docs/pwminput)
* [Px4ioStatus](msg_docs/px4iostatus)
* [QshellReq](msg_docs/qshellreq)
* [QshellRetval](msg_docs/qshellretval)
* [RadioStatus](msg_docs/radiostatus)
* [RateCtrlStatus](msg_docs/ratectrlstatus)
* [RcChannels](msg_docs/rcchannels)
* [RcParameterMap](msg_docs/rcparametermap)
* [Rpm](msg_docs/rpm)
* [RtlTimeEstimate](msg_docs/rtltimeestimate)
* [SatelliteInfo](msg_docs/satelliteinfo)
* [SensorAccel](msg_docs/sensoraccel)
* [SensorAccelFifo](msg_docs/sensoraccelfifo)
* [SensorBaro](msg_docs/sensorbaro)
* [SensorCombined](msg_docs/sensorcombined) — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not change with board revisions and sensor updates.
* [SensorCorrection](msg_docs/sensorcorrection) — Sensor corrections in SI-unit form for the voted sensor
* [SensorGnssRelative](msg_docs/sensorgnssrelative) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
* [SensorGps](msg_docs/sensorgps) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds)
* [SensorGyro](msg_docs/sensorgyro)
* [SensorGyroFft](msg_docs/sensorgyrofft)
* [SensorGyroFifo](msg_docs/sensorgyrofifo)
* [SensorHygrometer](msg_docs/sensorhygrometer)
* [SensorMag](msg_docs/sensormag)
* [SensorOpticalFlow](msg_docs/sensoropticalflow)
* [SensorPreflightMag](msg_docs/sensorpreflightmag) — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed
* [SensorSelection](msg_docs/sensorselection) — 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
* [SensorUwb](msg_docs/sensoruwb) — UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.
* [SensorsStatus](msg_docs/sensorsstatus) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
* [SensorsStatusImu](msg_docs/sensorsstatusimu) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
* [SystemPower](msg_docs/systempower)
* [TakeoffStatus](msg_docs/takeoffstatus) — Status of the takeoff state machine currently just available for multicopters
* [TaskStackInfo](msg_docs/taskstackinfo) — stack information for a single running process
* [TecsStatus](msg_docs/tecsstatus)
* [TelemetryStatus](msg_docs/telemetrystatus)
* [TiltrotorExtraControls](msg_docs/tiltrotorextracontrols)
* [TimesyncStatus](msg_docs/timesyncstatus)
* [TrajectoryBezier](msg_docs/trajectorybezier) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory\_bezier describe each waypoint defined in vehicle\_trajectory\_bezier
* [TrajectorySetpoint](msg_docs/trajectorysetpoint) — Trajectory setpoint in NED frame Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled
* [TrajectoryWaypoint](msg_docs/trajectorywaypoint) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory\_waypoint describe each waypoint defined in vehicle\_trajectory\_waypoint
* [TransponderReport](msg_docs/transponderreport)
* [TuneControl](msg_docs/tunecontrol) — This message is used to control the tunes, when the tune\_id is set to CUSTOM then the frequency, duration are used otherwise those values are ignored.
* [UavcanParameterRequest](msg_docs/uavcanparameterrequest) — UAVCAN-MAVLink parameter bridge request type
* [UavcanParameterValue](msg_docs/uavcanparametervalue) — UAVCAN-MAVLink parameter bridge response type
* [UlogStream](msg_docs/ulogstream) — Message to stream ULog data from the logger. Corresponds to the LOGGING\_DATA mavlink message
* [UlogStreamAck](msg_docs/ulogstreamack) — Ack a previously sent ulog\_stream message that had the NEED\_ACK flag set
* [VehicleAcceleration](msg_docs/vehicleacceleration)
* [VehicleAirData](msg_docs/vehicleairdata)
* [VehicleAngularAccelerationSetpoint](msg_docs/vehicleangularaccelerationsetpoint)
* [VehicleAngularVelocity](msg_docs/vehicleangularvelocity)
* [VehicleAttitude](msg_docs/vehicleattitude) — This is similar to the mavlink message ATTITUDE\_QUATERNION, but for onboard use
* [VehicleAttitudeSetpoint](msg_docs/vehicleattitudesetpoint)
* [VehicleCommand](msg_docs/vehiclecommand) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND\_INT / COMMAND\_LONG definition
* [VehicleCommandAck](msg_docs/vehiclecommandack) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND\_ACK message definition
* [VehicleConstraints](msg_docs/vehicleconstraints) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided
* [VehicleControlMode](msg_docs/vehiclecontrolmode)
* [VehicleGlobalPosition](msg_docs/vehicleglobalposition) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS measurement (@see vehicle\_gps\_position). This topic is usually published by the position estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation.
* [VehicleImu](msg_docs/vehicleimu) — IMU readings in SI-unit form.
* [VehicleImuStatus](msg_docs/vehicleimustatus)
* [VehicleLandDetected](msg_docs/vehiclelanddetected)
* [VehicleLocalPosition](msg_docs/vehiclelocalposition) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
* [VehicleLocalPositionSetpoint](msg_docs/vehiclelocalpositionsetpoint) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled
* [VehicleMagnetometer](msg_docs/vehiclemagnetometer)
* [VehicleOdometry](msg_docs/vehicleodometry) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
* [VehicleOpticalFlow](msg_docs/vehicleopticalflow) — Optical flow in XYZ body frame in SI units.
* [VehicleOpticalFlowVel](msg_docs/vehicleopticalflowvel)
* [VehicleRatesSetpoint](msg_docs/vehicleratessetpoint)
* [VehicleRoi](msg_docs/vehicleroi) — Vehicle Region Of Interest (ROI)
* [VehicleStatus](msg_docs/vehiclestatus) — Encodes the system state of the vehicle published by commander
* [VehicleThrustSetpoint](msg_docs/vehiclethrustsetpoint)
* [VehicleTorqueSetpoint](msg_docs/vehicletorquesetpoint)
* [VehicleTrajectoryBezier](msg_docs/vehicletrajectorybezier) — Vehicle Waypoints Trajectory description. See also MAVLink MAV\_TRAJECTORY\_REPRESENTATION msg The topic vehicle\_trajectory\_bezier is used to send a smooth flight path from the companion computer / avoidance module to the position controller.
* [VehicleTrajectoryWaypoint](msg_docs/vehicletrajectorywaypoint) — Vehicle Waypoints Trajectory description. See also MAVLink MAV\_TRAJECTORY\_REPRESENTATION msg The topic vehicle\_trajectory\_waypoint\_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. The topic vehicle\_trajectory\_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
* [VtolVehicleStatus](msg_docs/vtolvehiclestatus) — VEHICLE\_VTOL\_STATE, should match 1:1 MAVLinks's MAV\_VTOL\_STATE
* [Wind](msg_docs/wind)
* [YawEstimatorStatus](msg_docs/yawestimatorstatus)
