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55 lines
3.7 KiB
Markdown
55 lines
3.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorGyroFifo (UORB message)
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**TOPICS:** sensor_gyro_fifo
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ---------------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | |
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| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| <a id="fld_dt"></a>dt | `float32` | | | delta time between samples (microseconds) |
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| <a id="fld_scale"></a>scale | `float32` | | | |
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| <a id="fld_samples"></a>samples | `uint8` | | | number of valid samples |
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| <a id="fld_x"></a>x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s |
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| <a id="fld_y"></a>y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s |
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| <a id="fld_z"></a>z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ----------------------------------------------------------------------------------------- | ------- | - | -- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 dt # delta time between samples (microseconds)
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float32 scale
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uint8 samples # number of valid samples
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int16[32] x # angular velocity in the FRD board frame X-axis in rad/s
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int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
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int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
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uint8 ORB_QUEUE_LENGTH = 4
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```
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:::
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