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docs/en/msg_docs/EstimatorAidSource1d.md
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# EstimatorAidSource1d (UORB message)
**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
## Fields
@@ -55,7 +55,7 @@ float32 test_ratio_filtered # signed filtered test ratio
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

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docs/en/msg_docs/RangingBeacon.md Normal file
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---
pageClass: is-wide-page
---
# RangingBeacon (UORB message)
Ranging beacon measurement data (e.g. LoRa, UWB).
**TOPICS:** ranging_beacon
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | --------- | ------------ | --------------------- | ------------------------------------------- |
| timestamp | `uint64` | us | | time since system start |
| timestamp_sample | `uint64` | us | | the timestamp of the raw data |
| beacon_id | `uint8` | | |
| range | `float32` | m | | Range measurement |
| lat | `float64` | deg | | Latitude |
| lon | `float64` | deg | | Longitude |
| alt | `float32` | m | | Beacon altitude (frame defined in alt_type) |
| alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field |
| hacc | `float32` | m | | Groundbeacon horizontal accuracy |
| vacc | `float32` | m | | Groundbeacon vertical accuracy |
| sequence_nr | `uint8` | | |
| status | `uint8` | | |
| carrier_freq | `uint16` | MHz | | Carrier frequency |
| range_accuracy | `float32` | m | | Range accuracy estimate |
## Enums
### ALT_TYPE {#ALT_TYPE}
| Name | Type | Value | Description |
| ------------------------------------------- | ------- | ----- | ------------------------------------ |
| <a id="#ALT_TYPE_WGS84"></a> ALT_TYPE_WGS84 | `uint8` | 0 | Altitude above WGS84 ellipsoid |
| <a id="#ALT_TYPE_MSL"></a> ALT_TYPE_MSL | `uint8` | 1 | Altitude above Mean Sea Level (AMSL) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RangingBeacon.msg)
::: details Click here to see original file
```c
# Ranging beacon measurement data (e.g. LoRa, UWB)
uint64 timestamp # [us] time since system start
uint64 timestamp_sample # [us] the timestamp of the raw data
uint8 beacon_id
float32 range # [m] Range measurement
float64 lat # [deg] Latitude
float64 lon # [deg] Longitude
float32 alt # [m] Beacon altitude (frame defined in alt_type)
uint8 alt_type # [@enum ALT_TYPE] Altitude frame for alt field
uint8 ALT_TYPE_WGS84 = 0 # Altitude above WGS84 ellipsoid
uint8 ALT_TYPE_MSL = 1 # Altitude above Mean Sea Level (AMSL)
float32 hacc # [m] Groundbeacon horizontal accuracy
float32 vacc # [m] Groundbeacon vertical accuracy
uint8 sequence_nr
uint8 status
uint16 carrier_freq # [MHz] Carrier frequency
float32 range_accuracy # [m] Range accuracy estimate
# TOPICS ranging_beacon
```
:::

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docs/en/msg_docs/index.md
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@@ -192,6 +192,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [QshellReq](QshellReq.md)
- [QshellRetval](QshellRetval.md)
- [RadioStatus](RadioStatus.md)
- [RangingBeacon](RangingBeacon.md) — Ranging beacon measurement data (e.g. LoRa, UWB).
- [RateCtrlStatus](RateCtrlStatus.md)
- [RcChannels](RcChannels.md)
- [RcParameterMap](RcParameterMap.md)