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44 lines
1.9 KiB
Markdown
44 lines
1.9 KiB
Markdown
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pageClass: is-wide-page
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---
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# VehicleAngularVelocity (UORB message)
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**TOPICS:** vehicle_angular_velocity vehicle_angular_velocity_groundtruth
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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` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) |
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| xyz | `float32[3]` | | | Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s |
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| xyz_derivative | `float32[3]` | | | angular acceleration about the FRD body frame XYZ-axis in rad/s^2 |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg)
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::: details Click here to see original file
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds)
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float32[3] xyz # Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s
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float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2
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# TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth
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```
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:::
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