mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
82 lines
8.6 KiB
Markdown
82 lines
8.6 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SensorUwb (UORB message)
|
|
|
|
UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
|
|
|
|
**TOPICS:** sensor_uwb
|
|
|
|
## Fields
|
|
|
|
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
|
|
| ---------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_sessionid"></a>sessionid | `uint32` | | | UWB SessionID |
|
|
| <a id="fld_time_offset"></a>time_offset | `uint32` | | | Time between Ranging Rounds in ms |
|
|
| <a id="fld_counter"></a>counter | `uint32` | | | Number of Ranges since last Start of Ranging |
|
|
| <a id="fld_mac"></a>mac | `uint16` | | | MAC adress of Initiator (controller) |
|
|
| <a id="fld_mac_dest"></a>mac_dest | `uint16` | | | MAC adress of Responder (Controlee) |
|
|
| <a id="fld_status"></a>status | `uint16` | | | status feedback # |
|
|
| <a id="fld_nlos"></a>nlos | `uint8` | | | None line of site condition y/n |
|
|
| <a id="fld_distance"></a>distance | `float32` | | | distance in m to the UWB receiver |
|
|
| <a id="fld_aoa_azimuth_dev"></a>aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg |
|
|
| <a id="fld_aoa_elevation_dev"></a>aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg |
|
|
| <a id="fld_aoa_azimuth_resp"></a>aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
|
|
| <a id="fld_aoa_elevation_resp"></a>aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
|
|
| <a id="fld_aoa_azimuth_fom"></a>aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
|
|
| <a id="fld_aoa_elevation_fom"></a>aoa_elevation_fom | `uint8` | | | AOA Elevation FOM |
|
|
| <a id="fld_aoa_dest_azimuth_fom"></a>aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
|
|
| <a id="fld_aoa_dest_elevation_fom"></a>aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM |
|
|
| <a id="fld_orientation"></a>orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
|
|
| <a id="fld_offset_x"></a>offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) |
|
|
| <a id="fld_offset_y"></a>offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) |
|
|
| <a id="fld_offset_z"></a>offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
|
|
# such as Pozyx or NXP Rddrone.
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
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
|
|
|
|
|
|
#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
|
|
|
|
# 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
|
|
|
|
# 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)
|
|
```
|
|
|
|
:::
|