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docs/en/msg_docs/SensorGyroFifo.md
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@@ -1,8 +1,36 @@
---
pageClass: is-wide-page
---
# SensorGyroFifo (UORB message)
**TOPICS:** sensor_gyrofifo
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| dt | `float32` | | | delta time between samples (microseconds) |
| scale | `float32` | | |
| samples | `uint8` | | | number of valid samples |
| x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s |
| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s |
| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s |
## Constants
| Name | Type | Value | Description |
| ------------------------------------------------- | ------- | ----- | ----------- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -20,5 +48,6 @@ int16[32] y # angular velocity in the FRD board frame Y-axis in ra
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
uint8 ORB_QUEUE_LENGTH = 4
```
:::