mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
52 lines
2.2 KiB
Markdown
52 lines
2.2 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SensorMag (UORB message)
|
|
|
|
**TOPICS:** sensor_mag
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| timestamp_sample | `uint64` | | |
|
|
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
|
|
| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss |
|
|
| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss |
|
|
| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss |
|
|
| temperature | `float32` | | | temperature in degrees Celsius |
|
|
| error_count | `uint32` | | |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| ----------------------------------------------- | ------- | ----- | ----------- |
|
|
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorMag.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
uint64 timestamp_sample
|
|
|
|
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
|
|
|
float32 x # magnetic field in the FRD board frame X-axis in Gauss
|
|
float32 y # magnetic field in the FRD board frame Y-axis in Gauss
|
|
float32 z # magnetic field in the FRD board frame Z-axis in Gauss
|
|
|
|
float32 temperature # temperature in degrees Celsius
|
|
|
|
uint32 error_count
|
|
|
|
uint8 ORB_QUEUE_LENGTH = 4
|
|
```
|
|
|
|
:::
|