uxrce_dds: support multi-instance uORB topics #26305
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This was referenced Jan 20, 2026
Add dedicated message type for auxiliary global position sources. Separates aux_global_position from VehicleGlobalPosition topic. Includes source field for identifying position source type.
Add per-instance parameters (ID, CTRL, MODE, DELAY, NOISE, GATE) for up to 4 auxiliary global position sources.
- Refactor aux_global_position into manager + per-source AgpSource class - Support up to 4 independent AGP sources simultaneously - Dynamic parameter lookup without boilerplate switch statements - Per-source state tracking and fusion logic - Update simulator to use new AuxGlobalPosition message
Enable DDS bridge to handle multi-instance uORB topics by mapping multiple topic instances to a single DDS topic with instance field.
haumarco
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🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 2016 byte (0.1 %)]px4_fmu-v6x [Total VM Diff: 1968 byte (0.1 %)]Updated: 2026-01-21T16:40:49 |
bkueng
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Jan 22, 2026
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| ekf.resetAidSourceStatusZeroInnovation(aid_src); | ||
| int32_t AuxGlobalPosition::getModeParam(int instance) |
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From what I see these can be called frequently and thus should be cached (specifically the param_get(param_find calls).
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| uint64 timestamp # [us] Time since system start | ||
| uint64 timestamp_sample # [us] Timestamp of the raw data | ||
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| uint8 id # Unique identifier for the AGP source | ||
| uint8 source # 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator | ||
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| float64 lat # [deg] Latitude in WGS84 | ||
| float64 lon # [deg] Longitude in WGS84 | ||
| float32 alt # [m] Altitude above mean sea level (AMSL) | ||
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| float32 eph # [m] Standard deviation of horizontal position error | ||
| float32 epv # [m] Standard deviation of vertical position error | ||
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| uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates |
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Updated to https://docs.px4.io/main/en/uorb/uorb_documentation
Suggested change
| uint64 timestamp # [us] Time since system start | |
| uint64 timestamp_sample # [us] Timestamp of the raw data | |
| uint8 id # Unique identifier for the AGP source | |
| uint8 source # 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator | |
| float64 lat # [deg] Latitude in WGS84 | |
| float64 lon # [deg] Longitude in WGS84 | |
| float32 alt # [m] Altitude above mean sea level (AMSL) | |
| float32 eph # [m] Standard deviation of horizontal position error | |
| float32 epv # [m] Standard deviation of vertical position error | |
| uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates | |
| uint64 timestamp # [us] Time since system start | |
| uint64 timestamp_sample # [us] Timestamp of the raw data | |
| uint8 id # Unique identifier for the AGP source | |
| uint8 source # 0: Unkown, 1: GNSS, 2: Vision, 3: Pseudolites, 4: Terrain, 5: Magnetic, 6: Estimator | |
| float64 lat # [deg] Latitude in WGS84 | |
| float64 lon # [deg] Longitude in WGS84 | |
| float32 alt # [m] Altitude above mean sea level (AMSL) | |
| float32 eph # [m] Standard deviation of horizontal position error | |
| float32 epv # [m] Standard deviation of vertical position error | |
| uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates |
Contributor
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@beniaminopozzan Will this need docs, and if so can you work with @haumarco to make them happen? |
Member
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@hamishwillee sure! @haumarco why did the non-uxrcedds changes have been added to this PR? shall it go back to draft? |
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This PR is part of the split up of #26151
Solved Problem
The DDS bridge could only map single-instance uORB topics to DDS topics. This prevented external systems from publishing multiple instances of the same message type (e.g., multiple positioning sources) through separate DDS topics.
Solution
This PR adds multi-instance uORB topic support to the DDS bridge:
Topic mapping configuration
instancesfield to specify number of topic instances_A,_B,_C,_D) for DDS topic namesCode generation updates
PublicationMultiarrays for multi-instance subscriptions/fmu/in/aux_global_position_A→aux_global_positioninstance 0Changelog Entry
For release notes:
Test coverage
Tested with
aux_global_positiontopic configured for 4 instances.Additional Notes
This is a prerequisite for multi-instance AGP fusion in EKF2. The same pattern can be extended to other multi-instance topics (e.g., distance sensors, external odometry sources).