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76 lines
6.1 KiB
Markdown
76 lines
6.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RangingBeacon (UORB message)
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Ranging beacon measurement data (e.g. LoRa, UWB).
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**TOPICS:** ranging_beacon
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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` | us | | time since system start |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | the timestamp of the raw data |
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| <a id="fld_beacon_id"></a>beacon_id | `uint8` | | | |
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| <a id="fld_range"></a>range | `float32` | 米 | | Range measurement |
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| <a id="fld_lat"></a>lat | `float64` | deg | | Latitude |
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| <a id="fld_lon"></a>lon | `float64` | deg | | Longitude |
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| <a id="fld_alt"></a>alt | `float32` | 米 | | Beacon altitude (frame defined in alt_type) |
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| <a id="fld_alt_type"></a>alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field |
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| <a id="fld_hacc"></a>hacc | `float32` | 米 | | Groundbeacon horizontal accuracy |
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| <a id="fld_vacc"></a>vacc | `float32` | 米 | | Groundbeacon vertical accuracy |
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| <a id="fld_sequence_nr"></a>sequence_nr | `uint8` | | | |
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| <a id="fld_status"></a>status | `uint8` | | | |
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| <a id="fld_carrier_freq"></a>carrier_freq | `uint16` | MHz | | Carrier frequency |
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| <a id="fld_range_accuracy"></a>range_accuracy | `float32` | 米 | | Range accuracy estimate |
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## Enums
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### ALT_TYPE {#ALT_TYPE}
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Used in field(s): [alt_type](#fld_alt_type)
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------- |
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| <a id="#ALT_TYPE_WGS84"></a> ALT_TYPE_WGS84 | `uint8` | 0 | Altitude above WGS84 ellipsoid |
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| <a id="#ALT_TYPE_MSL"></a> ALT_TYPE_MSL | `uint8` | 1 | Altitude above Mean Sea Level (AMSL) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RangingBeacon.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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# Ranging beacon measurement data (e.g. LoRa, UWB)
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uint64 timestamp # [us] time since system start
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uint64 timestamp_sample # [us] the timestamp of the raw data
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uint8 beacon_id
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float32 range # [m] Range measurement
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float64 lat # [deg] Latitude
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float64 lon # [deg] Longitude
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float32 alt # [m] Beacon altitude (frame defined in alt_type)
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uint8 alt_type # [@enum ALT_TYPE] Altitude frame for alt field
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uint8 ALT_TYPE_WGS84 = 0 # Altitude above WGS84 ellipsoid
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uint8 ALT_TYPE_MSL = 1 # Altitude above Mean Sea Level (AMSL)
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float32 hacc # [m] Groundbeacon horizontal accuracy
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float32 vacc # [m] Groundbeacon vertical accuracy
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uint8 sequence_nr
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uint8 status
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uint16 carrier_freq # [MHz] Carrier frequency
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float32 range_accuracy # [m] Range accuracy estimate
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# TOPICS ranging_beacon
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```
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:::
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