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docs/en/msg_docs/SensorGyroFft.md
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@@ -1,8 +1,32 @@
---
pageClass: is-wide-page
---
# SensorGyroFft (UORB message)
**TOPICS:** sensor_gyrofft
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg)
| 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)
@@ -20,5 +44,6 @@ 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
```
:::