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external_attitude_estimate

PX4 capability domain: external-guided. PX4 mapping: MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE. Set an external estimate of vehicle attitude. This might be used to provide an initial attitude (especially heading) estimate to the estimator (EKF). Angles are defined in a 3-2-1 (yaw-pitch-roll) intrinsic Tait-Bryan sequence.

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Request Params

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vendor
string
必填
Fixed value px4
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device_id
string
必填
Target PX4 device ID
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command_type
string
必填
Fixed value external_attitude_estimate
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idempotency_key
string
必填
Idempotency key; repeated requests return the same command
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timeout_seconds
integer
Timeout in seconds, range 0~300
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payload
object
必填
Typed request payload for this command. Field names are generated from PX4 MAVLink XML labels, but callers do not send raw param1..param7 fields.
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payload.roll
number
Meaning: Roll, units deg; maps to MAVLink parameter 1 in the PX4 frame.
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payload.pitch
number
Meaning: Pitch, units deg; maps to MAVLink parameter 2 in the PX4 frame.
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payload.yaw
number
Meaning: Yaw, units deg; maps to MAVLink parameter 3 in the PX4 frame.
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payload.tilt_accuracy
number
Meaning: Tilt accuracy, units deg; maps to MAVLink parameter 4 in the PX4 frame.
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payload.yaw_accuracy
number
Meaning: Yaw accuracy, units deg; maps to MAVLink parameter 7 in the PX4 frame.

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PX4 Frame Mapping

  • MAVLink command: MAV_CMD_EXTERNAL_ATTITUDE_ESTIMATE
  • Command ID: 620
  • Default transport: COMMAND_LONG
  • Source XML: development.xml
  • Completion: COMMAND_ACK
  • Guard: real PX4 downlink is disabled by default; guarded mode requires explicit authorization and a ready transport.

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Create Response

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command_id
string
Platform command ID, used for follow-up queries
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status
string
Acceptance status: ACCEPTED
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accepted_at
string(datetime)
Command acceptance time (UTC)

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Query Response

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command_id
string
Platform command ID
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status
string
Execution status: ACCEPTED / DELIVERED / SUCCEEDED / FAILED / TIMED_OUT / UNMATCHED_RESPONSE
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vendor
string
Vendor identifier; fixed value px4
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device_id
string
Target PX4 device ID
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command_type
string
PX4 command type
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response_code
string
Mapped COMMAND_ACK.result value
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response_message
string
PX4 acknowledgement summary
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vendor_response
object
Raw PX4 acknowledgement summary, including MAVLink command ID and transport

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PX4 ACK Mapping

After sending the frame, the PX4 agent waits for COMMAND_ACK and correlates the response by command id. Disabled mode sends no frame and completes with a rejected lifecycle result. 
curl -X POST "/api/v1/open/downlink/commands" \
  -H "Content-Type: application/json" \
  -H "X-Api-Id: YOUR_API_ID" \
  -H "X-Api-Timestamp: YOUR_UNIX_SECONDS" \
  -H "X-Api-Nonce: YOUR_NONCE" \
  -H "X-Api-Signature: YOUR_SIGNATURE" \
  -d "{\"vendor\":\"px4\",\"device_id\":\"px4-real-1\",\"command_type\":\"external_attitude_estimate\",\"payload\":{\"roll\":0,\"pitch\":0,\"yaw\":0,\"tilt_accuracy\":0,\"yaw_accuracy\":0},\"idempotency_key\":\"req-external_attitude_estimate-001\",\"timeout_seconds\":30}"

curl "/api/v1/open/downlink/commands/8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0"

{
  "command_id": "8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0",
  "status": "ACCEPTED",
  "accepted_at": "2026-06-15T00:00:00Z"
}