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# SensorAccelFifo (UORB message)

**TOPICS:** sensor_accel_fifo

## Fields

| 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 |
| dt               | `float32`   |              |            | delta time between samples (microseconds)                                 |
| scale            | `float32`   |              |            |
| samples          | `uint8`     |              |            | number of valid samples                                                   |
| x                | `int16[32]` |              |            | acceleration in the FRD board frame X-axis in m/s^2                       |
| y                | `int16[32]` |              |            | acceleration in the FRD board frame Y-axis in m/s^2                       |
| z                | `int16[32]` |              |            | acceleration in the FRD board frame Z-axis in m/s^2                       |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccelFifo.msg)

::: details Click here to see original file

```c
uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample

uint32 device_id          # unique device ID for the sensor that does not change between power cycles

float32 dt                # delta time between samples (microseconds)
float32 scale

uint8 samples             # number of valid samples

int16[32] x               # acceleration in the FRD board frame X-axis in m/s^2
int16[32] y               # acceleration in the FRD board frame Y-axis in m/s^2
int16[32] z               # acceleration in the FRD board frame Z-axis in m/s^2
```

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