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55 lines
2.5 KiB
Markdown
55 lines
2.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorBaro (UORB message)
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Barometer sensor.
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This is populated by barometer drivers and used by the EKF2 estimator.
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The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
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**TOPICS:** sensor_baro
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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` | us | | Time of publication (since system start) |
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| timestamp_sample | `uint64` | us | | Time of raw data capture |
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| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
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| pressure | `float32` | Pa | | Static pressure measurement |
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| temperature | `float32` | degC | | Temperature. |
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| error_count | `uint32` | | | Number of errors detected by driver. |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------- | ------- | ----- | ----------- |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)
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::: details Click here to see original file
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```c
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# Barometer sensor
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#
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# This is populated by barometer drivers and used by the EKF2 estimator.
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# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
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uint64 timestamp # [us] Time of publication (since system start)
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uint64 timestamp_sample # [us] Time of raw data capture
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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 pressure # [Pa] Static pressure measurement
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float32 temperature # [degC] Temperature.
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uint32 error_count # [-] Number of errors detected by driver.
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uint8 ORB_QUEUE_LENGTH = 4
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```
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:::
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