SensorGyroFifo (UORB message)

TOPICS: sensor_gyro_fifo

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
is_external	bool			true if the sensor is not mounted on the flight controller board itself
dt	float32			delta time between samples (microseconds)
scale	float32			rad/s per count
samples	uint8			number of valid samples
x	int16[32]			FRD board frame X-axis raw counts (rad/s = x * scale)
y	int16[32]			FRD board frame Y-axis raw counts (rad/s = y * scale)
z	int16[32]			FRD board frame Z-axis raw counts (rad/s = z * scale)

Constants

Name	Type	Value	Description
ORB_QUEUE_LENGTH	uint8	4

Source Message

Source file (GitHub)

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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
bool is_external          # true if the sensor is not mounted on the flight controller board itself

float32 dt                # delta time between samples (microseconds)
float32 scale             # rad/s per count

uint8 samples             # number of valid samples

int16[32] x               # FRD board frame X-axis raw counts (rad/s = x * scale)
int16[32] y               # FRD board frame Y-axis raw counts (rad/s = y * scale)
int16[32] z               # FRD board frame Z-axis raw counts (rad/s = z * scale)

uint8 ORB_QUEUE_LENGTH = 4