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docs/en/msg_docs/SensorBaro.md
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@@ -1,11 +1,38 @@
---
pageClass: is-wide-page
---
# SensorBaro (UORB message)
Barometer sensor
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)
**TOPICS:** sensor_baro
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time of publication (since system start) |
| timestamp_sample | `uint64` | us | | Time of raw data capture |
| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
| pressure | `float32` | Pa | | Static pressure measurement |
| temperature | `float32` | degC | | Temperature. |
| error_count | `uint32` | | | Number of errors detected by driver. |
## Constants
| Name | Type | Value | Description |
| ------------------------------------------------- | ------- | ----- | ----------- |
| <a href="#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
@@ -22,5 +49,6 @@ float32 temperature # [degC] Temperature.
uint32 error_count # [-] Number of errors detected by driver.
uint8 ORB_QUEUE_LENGTH = 4
```
:::