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71 lines
6.7 KiB
Markdown
71 lines
6.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorCombined (Повідомлення UORB)
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Вимірювання сенсорів у вигляді одиниць SI. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates.
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**TOPICS:** sensor_combined
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| -------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| gyro_rad | `float32[3]` | | | average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period |
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| gyro_integral_dt | `uint32` | | | gyro measurement sampling period in microseconds |
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| accelerometer_timestamp_relative | `int32` | | | timestamp + accelerometer_timestamp_relative = Accelerometer timestamp |
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| accelerometer_m_s2 | `float32[3]` | | | average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period |
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| accelerometer_integral_dt | `uint32` | | | accelerometer measurement sampling period in microseconds |
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| accelerometer_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame |
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| gyro_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame |
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| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. |
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| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid |
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| <a id="#CLIPPING_X"></a> CLIPPING_X | `uint8` | 1 | |
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| <a id="#CLIPPING_Y"></a> CLIPPING_Y | `uint8` | 2 | |
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| <a id="#CLIPPING_Z"></a> CLIPPING_Z | `uint8` | 4 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg)
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:::details
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Click here to see original file
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```c
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# Sensor readings in SI-unit form.
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# These fields are scaled and offset-compensated where possible and do not
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# change with board revisions and sensor updates.
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uint64 timestamp # time since system start (microseconds)
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int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
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# gyro timstamp is equal to the timestamp of the message
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float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
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uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
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int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
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float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
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uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
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uint8 CLIPPING_X = 1
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uint8 CLIPPING_Y = 2
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uint8 CLIPPING_Z = 4
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uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
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uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
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uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
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uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
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```
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:::
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