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# VehicleMagnetometer (UORB message)

**TOPICS:** vehicle_magnetometer

## Fields

| Name              | Type         | Unit [Frame] | Range/Enum | Description                                                                        |
| ----------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| timestamp         | `uint64`     |              |            | time since system start (microseconds)                                             |
| timestamp_sample  | `uint64`     |              |            | the timestamp of the raw data (microseconds)                                       |
| device_id         | `uint32`     |              |            | unique device ID for the selected magnetometer                                     |
| magnetometer_ga   | `float32[3]` |              |            | Magnetic field in the FRD body frame XYZ-axis in Gauss                             |
| calibration_count | `uint8`      |              |            | Calibration changed counter. Monotonically increases whenever calibration changes. |

## Source Message

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

::: details Click here to see original file

```c
uint64 timestamp            # time since system start (microseconds)

uint64 timestamp_sample     # the timestamp of the raw data (microseconds)

uint32 device_id            # unique device ID for the selected magnetometer

float32[3] magnetometer_ga  # Magnetic field in the FRD body frame XYZ-axis in Gauss

uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.
```

:::