Sensors

Sensors are parts fitted into slots, with one exception: the IMU, barometer and magnetometer belong to the airframe itself, as the autopilot carries them on the real vehicle. The slots and their accepted types are in the configuration page, and new sensor parts can be added following the Add a part guide.

Available sensors

Sensor	Part	Slot	Fitted by default
IMU, barometer, magnetometer	the airframe		yes
GPS	`gps_mast`	`gps`	yes

Sensors ROS API

Flight sensors

ROS Topic	Description	Message type
`/x500/imu`	Body IMU	sensor_msgs/msg/Imu
`/x500/air_pressure`	Barometer	sensor_msgs/msg/FluidPressure
`/x500/mag`	Magnetometer	sensor_msgs/msg/MagneticField

GPS

ROS Topic	Description	Message type
`/x500/gps/fix`	Position fix	sensor_msgs/msg/NavSatFix

These topic names are not fixed strings. Every part topic is built as /<namespace>/<instance>/<suffix>, so the fix above is the gps instance publishing fix under the x500 namespace. Change the vehicle and the topics change with it:

Empty the GPS slot and /x500/gps/fix goes away with the part.
Rename the instance and the topic follows the new name.
Set topic, gz_topic or ros_topic on the part in the config to rename the base yourself.