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# SensorUwb (UORB message)

UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone.

**TOPICS:** sensor_uwb

## Fields

| Name                   | Type      | Unit [Frame] | Range/Enum | Description                                                 |
| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- |
| timestamp              | `uint64`  |              |            | time since system start (microseconds)                      |
| sessionid              | `uint32`  |              |            | UWB SessionID                                               |
| time_offset            | `uint32`  |              |            | Time between Ranging Rounds in ms                           |
| counter                | `uint32`  |              |            | Number of Ranges since last Start of Ranging                |
| mac                    | `uint16`  |              |            | MAC adress of Initiator (controller)                        |
| mac_dest               | `uint16`  |              |            | MAC adress of Responder (Controlee)                         |
| status                 | `uint16`  |              |            | status feedback #                                           |
| nlos                   | `uint8`   |              |            | None line of site condition y/n                             |
| distance               | `float32` |              |            | distance in m to the UWB receiver                           |
| aoa_azimuth_dev        | `float32` |              |            | Angle of arrival of first incomming RX msg                  |
| aoa_elevation_dev      | `float32` |              |            | Angle of arrival of first incomming RX msg                  |
| aoa_azimuth_resp       | `float32` |              |            | Angle of arrival of first incomming RX msg at the responder |
| aoa_elevation_resp     | `float32` |              |            | Angle of arrival of first incomming RX msg at the responder |
| aoa_azimuth_fom        | `uint8`   |              |            | AOA Azimuth FOM                                             |
| aoa_elevation_fom      | `uint8`   |              |            | AOA Elevation FOM                                           |
| aoa_dest_azimuth_fom   | `uint8`   |              |            | AOA Azimuth FOM                                             |
| aoa_dest_elevation_fom | `uint8`   |              |            | AOA Elevation FOM                                           |
| orientation            | `uint8`   |              |            | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| offset_x               | `float32` |              |            | UWB initiator offset in X axis (NED drone frame)            |
| offset_y               | `float32` |              |            | UWB initiator offset in Y axis (NED drone frame)            |
| offset_z               | `float32` |              |            | UWB initiator offset in Z axis (NED drone frame)            |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg)

::: details Click here to see original file

```c
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.

uint64 	timestamp		# time since system start (microseconds)

uint32 	sessionid		# UWB SessionID
uint32 	time_offset		# Time between Ranging Rounds in ms
uint32 	counter			# Number of Ranges since last Start of Ranging
uint16 	mac			# MAC adress of Initiator (controller)

uint16 	mac_dest		# MAC adress of Responder (Controlee)
uint16 	status			# status feedback #
uint8 	nlos			# None line of site condition y/n
float32 distance		# distance in m to the UWB receiver


#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
float32 aoa_azimuth_dev	# Angle of arrival of first incomming RX msg
float32 aoa_elevation_dev	# Angle of arrival of first incomming RX msg
float32 aoa_azimuth_resp	# Angle of arrival of first incomming RX msg at the responder
float32 aoa_elevation_resp	# Angle of arrival of first incomming RX msg at the responder

# Figure of merit for the angle measurements
uint8 aoa_azimuth_fom		# AOA Azimuth FOM
uint8 aoa_elevation_fom		# AOA Elevation FOM
uint8 aoa_dest_azimuth_fom	# AOA Azimuth FOM
uint8 aoa_dest_elevation_fom	# AOA Elevation FOM

# Initiator physical configuration
uint8 orientation		# Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
				# Standard configuration is Antennas facing down and azimuth aligened in forward direction
float32 offset_x		# UWB initiator offset in X axis (NED drone frame)
float32 offset_y		# UWB initiator offset in Y axis (NED drone frame)
float32 offset_z		# UWB initiator offset in Z axis (NED drone frame)
```

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