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82 lines
7.7 KiB
Markdown
82 lines
7.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SensorUwb (UORB message)
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UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.
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**TOPICS:** sensor_uwb
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| sessionid | `uint32` | | | UWB SessionID |
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| time_offset | `uint32` | | | Time between Ranging Rounds in ms |
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| counter | `uint32` | | | Number of Ranges since last Start of Ranging |
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| mac | `uint16` | | | MAC adress of Initiator (controller) |
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| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) |
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| status | `uint16` | | | status feedback # |
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| nlos | `uint8` | | | None line of site condition y/n |
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| distance | `float32` | | | distance in m to the UWB receiver |
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| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg |
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| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg |
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| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
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| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder |
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| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
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| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM |
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| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM |
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| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM |
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| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
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| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) |
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| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) |
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| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.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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# 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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:::
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