PX4-Autopilot/docs/zh/msg_docs/RangingBeacon.md

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RangingBeacon (UORB message)

Ranging beacon measurement data (e.g. LoRa, UWB).

TOPICS: ranging_beacon

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		time since system start
timestamp_sample	uint64	us		the timestamp of the raw data
beacon_id	uint8
range	float32	米		Range measurement
lat	float64	deg		Latitude
lon	float64	deg		Longitude
alt	float32	米		Beacon altitude (frame defined in alt_type)
alt_type	uint8		ALT_TYPE	Altitude frame for alt field
hacc	float32	米		Groundbeacon horizontal accuracy
vacc	float32	米		Groundbeacon vertical accuracy
sequence_nr	uint8
status	uint8
carrier_freq	uint16	MHz		Carrier frequency
range_accuracy	float32	米		Range accuracy estimate

Enums

ALT_TYPE

参数名	类型	值	描述
ALT_TYPE_WGS84	uint8	0	Altitude above WGS84 ellipsoid
ALT_TYPE_MSL	uint8	1	Altitude above Mean Sea Level (AMSL)

Source Message

Source file (GitHub)

:::details Click here to see original file

# Ranging beacon measurement data (e.g. LoRa, UWB)

uint64 timestamp                # [us] time since system start
uint64 timestamp_sample         # [us] the timestamp of the raw data
uint8 beacon_id
float32 range                   # [m] Range measurement

float64 lat                     # [deg] Latitude
float64 lon                     # [deg] Longitude
float32 alt                     # [m] Beacon altitude (frame defined in alt_type)
uint8 alt_type                  # [@enum ALT_TYPE] Altitude frame for alt field
uint8 ALT_TYPE_WGS84 = 0        # Altitude above WGS84 ellipsoid
uint8 ALT_TYPE_MSL   = 1        # Altitude above Mean Sea Level (AMSL)

float32 hacc                    # [m] Groundbeacon horizontal accuracy
float32 vacc                    # [m] Groundbeacon vertical accuracy

uint8 sequence_nr
uint8 status
uint16 carrier_freq             # [MHz] Carrier frequency
float32 range_accuracy          # [m] Range accuracy estimate


# TOPICS ranging_beacon

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