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