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45 lines
2.0 KiB
Markdown
45 lines
2.0 KiB
Markdown
# SensorUwb (Повідомлення UORB)
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UWB відстань містить інформацію про відстань, виміряну системою позиціонування з використанням ультраширокосмугової технології,
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такою як Pozyx або NXP Rddrone.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg)
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```c
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# UWB distance contains the distance information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint32 sessionid # UWB SessionID
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uint32 time_offset # Time between Ranging Rounds in ms
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uint32 counter # Number of Ranges since last Start of Ranging
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uint16 mac # MAC adress of Initiator (controller)
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uint16 mac_dest # MAC adress of Responder (Controlee)
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uint16 status # status feedback #
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uint8 nlos # None line of site condition y/n
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float32 distance # distance in m to the UWB receiver
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#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
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float32 aoa_azimuth_dev # Angle of arrival of first incomming RX msg
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float32 aoa_elevation_dev # Angle of arrival of first incomming RX msg
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float32 aoa_azimuth_resp # Angle of arrival of first incomming RX msg at the responder
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float32 aoa_elevation_resp # Angle of arrival of first incomming RX msg at the responder
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# Figure of merit for the angle measurements
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uint8 aoa_azimuth_fom # AOA Azimuth FOM
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uint8 aoa_elevation_fom # AOA Elevation FOM
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uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM
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uint8 aoa_dest_elevation_fom # AOA Elevation FOM
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# Initiator physical configuration
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uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
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# Standard configuration is Antennas facing down and azimuth aligened in forward direction
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float32 offset_x # UWB initiator offset in X axis (NED drone frame)
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float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
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float32 offset_z # UWB initiator offset in Z axis (NED drone frame)
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```
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