mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
55 lines
3.4 KiB
Markdown
55 lines
3.4 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SensorGyroFifo (UORB message)
|
|
|
|
**TOPICS:** sensor_gyro_fifo
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
|
|
| 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]` | | | angular velocity in the FRD board frame X-axis in rad/s |
|
|
| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s |
|
|
| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ----------------------------------------------------------------------------------------- | ------- | -------- | ---- |
|
|
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.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 # angular velocity in the FRD board frame X-axis in rad/s
|
|
int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
|
|
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
|
|
|
|
uint8 ORB_QUEUE_LENGTH = 4
|
|
```
|
|
|
|
:::
|