From 8f38a2ddbcc29ad6ee9e3ee5739a4d8a2bf63232 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Fri, 24 Oct 2025 06:07:28 +1100 Subject: [PATCH] uORB doc update: SensorBaro, DifferentialPressure (#25712) --- msg/DifferentialPressure.msg | 18 ++++++++++-------- msg/SensorBaro.msg | 18 ++++++++++-------- 2 files changed, 20 insertions(+), 16 deletions(-) diff --git a/msg/DifferentialPressure.msg b/msg/DifferentialPressure.msg index 0cdf1e4cce..44de2e9fc7 100644 --- a/msg/DifferentialPressure.msg +++ b/msg/DifferentialPressure.msg @@ -1,10 +1,12 @@ -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample +# Differential-pressure (airspeed) sensor +# +# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed. +# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance). -uint32 device_id # unique device ID for the sensor that does not change between power cycles +uint64 timestamp # [us] Time of publication (since system start) +uint64 timestamp_sample # [us] Time of raw data capture -float32 differential_pressure_pa # differential pressure reading in Pascals (may be negative) - -float32 temperature # Temperature provided by sensor in degrees Celsius, NAN if unknown - -uint32 error_count # Number of errors detected by driver +uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles +float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative) +float32 temperature # [degC] [@invalid NaN if unknown] Temperature +uint32 error_count # [-] Number of errors detected by driver diff --git a/msg/SensorBaro.msg b/msg/SensorBaro.msg index 7c4154e159..f13096d9aa 100644 --- a/msg/SensorBaro.msg +++ b/msg/SensorBaro.msg @@ -1,12 +1,14 @@ -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample +# 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). -uint32 device_id # unique device ID for the sensor that does not change between power cycles +uint64 timestamp # [us] Time of publication (since system start) +uint64 timestamp_sample # [us] Time of raw data capture -float32 pressure # static pressure measurement in Pascals - -float32 temperature # temperature in degrees Celsius - -uint32 error_count +uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles +float32 pressure # [Pa] Static pressure measurement +float32 temperature # [degC] Temperature. +uint32 error_count # [-] Number of errors detected by driver. uint8 ORB_QUEUE_LENGTH = 4