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# SensorGyroFft (UORB message)

**TOPICS:** sensor_gyro_fft

## Fields

| Name                  | Type         | Unit [Frame] | Range/Enum | Description                                                               |
| --------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp             | `uint64`     |              |            | time since system start (microseconds)                                    |
| timestamp_sample      | `uint64`     |              |            |
| device_id             | `uint32`     |              |            | unique device ID for the sensor that does not change between power cycles |
| sensor_sample_rate_hz | `float32`    |              |            |
| resolution_hz         | `float32`    |              |            |
| peak_frequencies_x    | `float32[3]` |              |            | x axis peak frequencies                                                   |
| peak_frequencies_y    | `float32[3]` |              |            | y axis peak frequencies                                                   |
| peak_frequencies_z    | `float32[3]` |              |            | z axis peak frequencies                                                   |
| peak_snr_x            | `float32[3]` |              |            | x axis peak SNR                                                           |
| peak_snr_y            | `float32[3]` |              |            | y axis peak SNR                                                           |
| peak_snr_z            | `float32[3]` |              |            | z axis peak SNR                                                           |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg)

::: details Click here to see original file

```c
uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample

uint32 device_id          # unique device ID for the sensor that does not change between power cycles

float32 sensor_sample_rate_hz
float32 resolution_hz

float32[3] peak_frequencies_x # x axis peak frequencies
float32[3] peak_frequencies_y # y axis peak frequencies
float32[3] peak_frequencies_z # z axis peak frequencies

float32[3] peak_snr_x # x axis peak SNR
float32[3] peak_snr_y # y axis peak SNR
float32[3] peak_snr_z # z axis peak SNR
```

:::
