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4.9 KiB
4.9 KiB
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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
::: details Click here to see original file
# 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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