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59 lines
3.6 KiB
Markdown
59 lines
3.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorAccel (UORB message)
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**TOPICS:** sensor_accel
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | |
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| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| x | `float32` | | | acceleration in the FRD board frame X-axis in m/s^2 |
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| y | `float32` | | | acceleration in the FRD board frame Y-axis in m/s^2 |
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| z | `float32` | | | acceleration in the FRD board frame Z-axis in m/s^2 |
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| temperature | `float32` | | | temperature in degrees Celsius |
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| error_count | `uint32` | | | |
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| clip_counter | `uint8[3]` | | | clip count per axis in the sample period |
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| samples | `uint8` | | | number of raw samples that went into this message |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ----------------------------------------------------------------------------------------- | ------- | - | -- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccel.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 x # acceleration in the FRD board frame X-axis in m/s^2
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float32 y # acceleration in the FRD board frame Y-axis in m/s^2
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float32 z # acceleration in the FRD board frame Z-axis in m/s^2
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float32 temperature # temperature in degrees Celsius
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uint32 error_count
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uint8[3] clip_counter # clip count per axis in the sample period
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uint8 samples # number of raw samples that went into this message
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uint8 ORB_QUEUE_LENGTH = 8
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```
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:::
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