mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
56 lines
3.3 KiB
Markdown
56 lines
3.3 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SensorBaro (UORB message)
|
|
|
|
Barometer sensor.
|
|
|
|
This is populated by barometer drivers and used by the EKF2 estimator.
|
|
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
|
|
|
|
**TOPICS:** sensor_baro
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time of publication (since system start) |
|
|
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Time of raw data capture |
|
|
| <a id="fld_device_id"></a>device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
|
|
| <a id="fld_pressure"></a>pressure | `float32` | Pa | | Static pressure measurement |
|
|
| <a id="fld_temperature"></a>temperature | `float32` | °C | | Temperature. |
|
|
| <a id="fld_error_count"></a>error_count | `uint32` | | | Number of errors detected by driver. |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
|
|
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# Barometer sensor
|
|
#
|
|
# This is populated by barometer drivers and used by the EKF2 estimator.
|
|
# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
|
|
|
|
uint64 timestamp # [us] Time of publication (since system start)
|
|
uint64 timestamp_sample # [us] Time of raw data capture
|
|
|
|
uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles
|
|
float32 pressure # [Pa] Static pressure measurement
|
|
float32 temperature # [°C] Temperature.
|
|
uint32 error_count # [-] Number of errors detected by driver.
|
|
|
|
uint8 ORB_QUEUE_LENGTH = 4
|
|
```
|
|
|
|
:::
|