# 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).

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)

```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  # [degC] Temperature.
uint32 error_count   # [-] Number of errors detected by driver.

uint8 ORB_QUEUE_LENGTH = 4

```
