mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
32 lines
850 B
Markdown
32 lines
850 B
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# WheelEncoders (UORB message)
|
|
|
|
**TOPICS:** wheel_encoders
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ----------- | ------------ | ------------ | ---------- | -------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| wheel_speed | `float32[2]` | rad/s | |
|
|
| wheel_angle | `float32[2]` | rad | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
# Two wheels: 0 right, 1 left
|
|
float32[2] wheel_speed # [rad/s]
|
|
float32[2] wheel_angle # [rad]
|
|
```
|
|
|
|
:::
|