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docs(docs): SensorUwb.msg - update to UORB docs standard (#28522)

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* docs(docs): SensorUwb.msg - update to docs standard

* docs(docs): Remove whitespace
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Hamish Willee
2026-09-05 01:21:50 +10:00
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commit 7e1298f8da
1 changed files with 28 additions and 25 deletions
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msg/SensorUwb.msg
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@@ -1,34 +1,37 @@
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.
# Ultra-wideband (UWB) distance sensor
#
# Distance and angle-of-arrival ranging data from an ultra-wideband (UWB) positioning
# system, such as Pozyx or NXP Rddrone. Published and consumed internally by the UWB
# ranging driver (src/drivers/uwb/uwb_sr150), which parses serial ranging results from
# the sensor module and publishes them on this topic; no other module in the codebase
# currently subscribes to it.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
uint32 sessionid # UWB SessionID
uint32 time_offset # Time between Ranging Rounds in ms
uint32 counter # Number of Ranges since last Start of Ranging
uint16 mac # MAC adress of Initiator (controller)
uint16 mac_dest # MAC adress of Responder (Controlee)
uint16 status # status feedback #
uint8 nlos # None line of site condition y/n
float32 distance # distance in m to the UWB receiver
uint32 sessionid # UWB SessionID
uint32 time_offset # Time between Ranging Rounds in ms
uint32 counter # Number of Ranges since last Start of Ranging
uint16 mac # [-] MAC address of Initiator (controller)
uint16 mac_dest # [-] MAC address of Responder (Controlee)
uint16 status # [-] Ranging status code passed through from the UWB module's measurement result
uint8 nlos # [-] Non-line-of-sight condition (y/n)
float32 distance # [m] Distance to the UWB receiver
#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
float32 aoa_azimuth_dev # Angle of arrival of first incomming RX msg
float32 aoa_elevation_dev # Angle of arrival of first incomming RX msg
float32 aoa_azimuth_resp # Angle of arrival of first incomming RX msg at the responder
float32 aoa_elevation_resp # Angle of arrival of first incomming RX msg at the responder
float32 aoa_azimuth_dev # [deg] Angle of arrival of first incoming RX msg
float32 aoa_elevation_dev # [deg] Angle of arrival of first incoming RX msg
float32 aoa_azimuth_resp # [deg] Angle of arrival of first incoming RX msg at the responder
float32 aoa_elevation_resp # [deg] Angle of arrival of first incoming RX msg at the responder
# Figure of merit for the angle measurements
uint8 aoa_azimuth_fom # AOA Azimuth FOM
uint8 aoa_elevation_fom # AOA Elevation FOM
uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM
uint8 aoa_dest_elevation_fom # AOA Elevation FOM
uint8 aoa_azimuth_fom # AOA Azimuth Figure of Merit (FOM)
uint8 aoa_elevation_fom # AOA Elevation FOM
uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM
uint8 aoa_dest_elevation_fom # AOA Elevation FOM
# Initiator physical configuration
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
# Standard configuration is Antennas facing down and azimuth aligened in forward direction
float32 offset_x # UWB initiator offset in X axis (NED drone frame)
float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
float32 offset_z # UWB initiator offset in Z axis (NED drone frame)
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum. Standard configuration has antennas facing down and azimuth aligned in the forward direction.
float32 offset_x # UWB initiator offset in X axis (NED drone frame)
float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
float32 offset_z # UWB initiator offset in Z axis (NED drone frame)