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58 lines
3.1 KiB
Markdown
58 lines
3.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorGyro (UORB message)
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**TOPICS:** sensor_gyro
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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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_x"></a>x | `float32` | | | angular velocity in the FRD board frame X-axis in rad/s |
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| <a id="fld_y"></a>y | `float32` | | | angular velocity in the FRD board frame Y-axis in rad/s |
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| <a id="fld_z"></a>z | `float32` | | | angular velocity in the FRD board frame Z-axis in rad/s |
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| <a id="fld_temperature"></a>temperature | `float32` | | | temperature in degrees Celsius |
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| <a id="fld_error_count"></a>error_count | `uint32` | | |
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| <a id="fld_clip_counter"></a>clip_counter | `uint8[3]` | | | clip count per axis in the sample period |
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| <a id="fld_samples"></a>samples | `uint8` | | | number of raw samples that went into this message |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------- | ------- | ----- | ----------- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg)
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::: details 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 x # angular velocity in the FRD board frame X-axis in rad/s
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float32 y # angular velocity in the FRD board frame Y-axis in rad/s
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float32 z # angular velocity in the FRD board frame Z-axis in rad/s
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float32 temperature # temperature in degrees Celsius
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uint32 error_count
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uint8[3] clip_counter # clip count per axis in the sample period
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uint8 samples # number of raw samples that went into this message
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uint8 ORB_QUEUE_LENGTH = 8
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```
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:::
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