fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 22:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: auto-sync metadata [skip ci]

Browse Source 
Co-Authored-By: PX4 BuildBot <bot@px4.io>
This commit is contained in:
PX4BuildBot
2026-02-11 22:43:01 +00:00
parent 01b348c86b
commit 36b5e1e1bb
374 changed files with 12147 additions and 1765 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/msg_docs/SensorUwb.md
+40 -4
View File
@@ -1,9 +1,44 @@
---
pageClass: is-wide-page
---
# SensorUwb (UORB message)
UWB distance contains the distance information measured by an ultra-wideband positioning system,
such as Pozyx or NXP Rddrone.
UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg)
**TOPICS:** sensor_uwb
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| sessionid | `uint32` | | | UWB SessionID |
| time_offset | `uint32` | | | Time between Ranging Rounds in ms |
| counter | `uint32` | | | Number of Ranges since last Start of Ranging |
| mac | `uint16` | | | MAC adress of Initiator (controller) |
| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) |
| status | `uint16` | | | status feedback # |
| nlos | `uint8` | | | None line of site condition y/n |
| distance | `float32` | | | distance in m to the UWB receiver |
| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg |
| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg |
| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM |
| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM |
| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) |
| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) |
| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg)
::: details Click here to see original file
```c
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
@@ -40,5 +75,6 @@ uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
float32 offset_x # UWB initiator offset in X axis (NED drone frame)
float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
float32 offset_z # UWB initiator offset in Z axis (NED drone frame)
```
:::