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# SensorSelection (UORB message)

Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes.

**TOPICS:** sensor_selection

## Fields

| Name            | Type     | Unit [Frame] | Range/Enum | Description                                      |
| --------------- | -------- | ------------ | ---------- | ------------------------------------------------ |
| timestamp       | `uint64` |              |            | time since system start (microseconds)           |
| accel_device_id | `uint32` |              |            | unique device ID for the selected accelerometers |
| gyro_device_id  | `uint32` |              |            | unique device ID for the selected rate gyros     |

## Source Message

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

::: details Click here to see original file

```c
#
# Sensor ID's for the voted sensors output on the sensor_combined topic.
# Will be updated on startup of the sensor module and when sensor selection changes
#
uint64 timestamp		# time since system start (microseconds)
uint32 accel_device_id		# unique device ID for the selected accelerometers
uint32 gyro_device_id		# unique device ID for the selected rate gyros
```

:::
