> For the complete documentation index, see [llms.txt](https://px4.gitbook.io/px4-user-guide/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://px4.gitbook.io/px4-user-guide/development/middleware/msg_docs/sensorgyro.md).

# SensorGyro

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg)

```c
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

float32 x                 # angular velocity in the FRD board frame X-axis in rad/s
float32 y                 # angular velocity in the FRD board frame Y-axis in rad/s
float32 z                 # angular velocity in the FRD board frame Z-axis in rad/s

float32 temperature       # temperature in degrees Celsius

uint32 error_count

uint8[3] clip_counter     # clip count per axis in the sample period

uint8 samples             # number of raw samples that went into this message

uint8 ORB_QUEUE_LENGTH = 8

```