> ## Documentation Index
> Fetch the complete documentation index at: https://scaledfoundations-rebrand.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# Sensors

Apart from cameras, AirGen currently supports the following sensors. Each sensor is associated with a integer enum specifying its sensor type.

## Barometer

AirGen has a barometer as a default sensor for robots. The barometer primarily reports altitude and atmospheric pressure.

```Python
client = airgen.MultirotorClient()
client.getBarometerData()

<BarometerData> {   'altitude': 121.27217102050781,
    'pressure': 99876.0078125,
    'qnh': 1013.25,
    'time_stamp': 1721339963514664704}
```

## GPS

AirGen contains support for a GPS sensor that returns the current geo location of the vehicle. The GPS sensor is enabled by default, but can be disabled through the Sensors tab in the custom session configuration panel

The GPS data is available through the *getGpsData()* method.

```Python
client = airgen.MultirotorClient()
gps_data = client.getGpsData()
latitude = gps_data.gnss.geopoint.latitude
longitude = gps_data.gnss.geopoint.longitude
altitude = gps_data.gnss.geopoint.altitude
```

## IMU

AirGen contains support for Inertial Measurement Units (IMUs). Data captured from the IMU can be used to calculate the orientation of the vehicle. This is done using a combination of the accelerometer, gyroscope and magnetometer data.

The IMU data can be accessed using the *getImuData* method. This method returns an *ImuData* object which contains raw angular velocities and linear accelerations, as well as the orientation of the vehicle.

```Python
client = airgen.MultirotorClient()
imu_data = client.getImuData()

<ImuData>
{   'angular_velocity': <Vector3r> {   'x_val': 0.0007983481627888978,
    'y_val': 0.000933181494474411,
    'z_val': -0.0007887388928793371},
    'linear_acceleration': <Vector3r> {   'x_val': -0.11297493427991867,
    'y_val': 0.11055465042591095,
    'z_val': -9.841029167175293},
    'orientation': <Quaternionr> {   'w_val': -4.371138828673793e-08,
    'x_val': -0.0,
    'y_val': 0.0,
    'z_val': 1.0},
    'time_stamp': 1721340023239938816}
```

## Magnetometer

AirGen has a magnetometer as a default sensor for robots. The magnetometer primarily reports magnetic field measurements on all three (X, Y, Z) axes.

```Python
client = airgen.MultirotorClient()
client.getMagnetometerData()

<MagnetometerData>
{   'magnetic_field_body': <Vector3r> {   'x_val': -0.25192224979400635,
    'y_val': -0.027216637507081032,
    'z_val': 0.37283220887184143},
    'magnetic_field_covariance': [   ],
    'time_stamp': 1721340120640016640}
```

## LiDAR

AirGen contains support for LiDAR sensors, which capture 3D point clouds.

### LiDAR Configuration

The configuration for the LiDAR sensor can be set up in the `Sensors` section of the configuration tab (accessible through the custom session panel). The following parameters are available:

| Parameter              | Description                                      |
| ---------------------- | ------------------------------------------------ |
| **NumberOfChannels**   | Number of lasers arranged vertically             |
| **X, Y, Z**            | Position of the LiDAR relative to the vehicle    |
| **Roll, Pitch, Yaw**   | Orientation of the LiDAR relative to the vehicle |
| **VerticalFOVUpper**   | Topmost orientation in degrees                   |
| **VerticalFOVLower**   | Bottommost orientation in degrees                |
| **HorizontalFOVStart** | Leftmost orientation in degrees                  |
| **HorizontalFOVEnd**   | Rightmost orientation in degrees                 |

### Accessing LiDAR Data

Assuming a LiDAR has been set up for a vehicle, the point cloud data can be accessed as follows, and optionally visualized through Rerun.

```python
client = airgen.MultirotorClient()

# Get LiDAR data
lidar_data = client.getLidarData()

# Extract point cloud
points = numpy.array(data.point_cloud, dtype=numpy.dtype('f4'))
points = numpy.reshape(points, (int(points.shape[0]/3), 3))

# Visualize point cloud
import rerun as rr 
rr.log('lidar/points', rr.Points3D(points))
```

The structure of the output of *client.getLidarData()* can be seen at `airgen.types.LidarData()`.

## Distance Sensor

This is a simple distance sensor that emulates an ultrasonic sensor to measure the distance to an object.

### Distance Sensor Configuration

The configuration for the distance sensor can be set up in the `Sensors` section of the configuration tab (accessible through the custom session panel). By default, the distance sensor points to the front of the vehicle. The following parameters are available:

| Parameter            | Description                                       |
| -------------------- | ------------------------------------------------- |
| **MinDistance**      | Minimum distance the sensor can capture           |
| **MaxDistance**      | Maximum distance the sensor can capture           |
| **X, Y, Z**          | Position of the sensor relative to the vehicle    |
| **Roll, Pitch, Yaw** | Orientation of the sensor relative to the vehicle |

### Accessing Distance Data

The distance sensor can be accessed through the `getDistanceData` method.

```python
client = airgen.MultirotorClient()
distance = client.getDistanceData()
```