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docs/en/msg_docs/VehicleAirData.md
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@@ -1,11 +1,35 @@
---
pageClass: is-wide-page
---
# VehicleAirData (UORB message)
Vehicle air data
Vehicle air data.
Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source).
Includes calculated data such as barometric altitude and air density.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)
**TOPICS:** vehicle_airdata
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| baro_device_id | `uint32` | | | Unique device ID for the selected barometer |
| baro_alt_meter | `float32` | m [MSL] | | Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH |
| baro_pressure_pa | `float32` | Pa | | Absolute pressure |
| ambient_temperature | `float32` | degC | | Ambient temperature |
| temperature_source | `uint8` | | | Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed |
| rho | `float32` | kg/m^3 | | Air density |
| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg)
::: details Click here to see original file
```c
# Vehicle air data
@@ -22,5 +46,6 @@ float32 ambient_temperature # [degC] Ambient temperature
uint8 temperature_source # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
float32 rho # [kg/m^3] Air density
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
```
:::