From 7e1298f8dabf9ff0f6b2ab4178b4c8ce5e870dcf Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Sat, 5 Sep 2026 01:21:50 +1000 Subject: [PATCH] docs(docs): SensorUwb.msg - update to UORB docs standard (#28522) * docs(docs): SensorUwb.msg - update to docs standard * docs(docs): Remove whitespace --- msg/SensorUwb.msg | 53 +++++++++++++++++++++++++---------------------- 1 file changed, 28 insertions(+), 25 deletions(-) diff --git a/msg/SensorUwb.msg b/msg/SensorUwb.msg index ae889a8bdc5..19807fb8f02 100644 --- a/msg/SensorUwb.msg +++ b/msg/SensorUwb.msg @@ -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)