`sensortest` sensor test tool

Reads data from a sensor driver via the uORB topic interface and prints the output to the console. Useful for verifying that a sensor driver is working correctly and producing valid data.

Configuration

Enable the command with CONFIG_SYSTEM_SENSORTEST. This option requires CONFIG_SENSORS and CONFIG_ENABLE_ALL_SIGNALS.

The following configuration options are available:

CONFIG_SYSTEM_SENSORTEST_PROGNAME: Program name for the sensortest command. Default: sensortest.
CONFIG_SYSTEM_SENSORTEST_PRIORITY: Task priority. Default: 100.
CONFIG_SYSTEM_SENSORTEST_STACKSIZE: Stack size. Default: DEFAULT_TASK_STACKSIZE.

Usage

nsh> sensortest [-i <interval>] [-b <latency>] [-n <count>] <sensor_name>

Options

-i <interval>: Data output period in microseconds. Controls how often the sensor is polled for new data. Optional. Default: 1000000 (1 second).
-b <latency>: Maximum report latency in microseconds. When set to a non-zero value, the sensor may batch multiple readings and deliver them at once. Optional. Default: 0 (no batching).
-n <count>: Number of data samples to read before exiting. When set to 0, the command runs continuously until interrupted. Optional. Default: 0 (unlimited).
-h: Print help message and exit.

Commands

<sensor_name>: The sensor node name without the sensor_ prefix and /dev/uorb/ path. For example, use accel to read from /dev/uorb/sensor_accel.

Supported Sensors

The following sensor types are supported:

Name	Data Type	Description
`accel`	vec3 (x, y, z)	Accelerometer
`baro`	valf2	Barometer (pressure, temperature)
`cap`	cap	Capacitance
`co2`	valf	CO2 concentration
`dust`	valf	Dust particle concentration
`ecg`	ecg	Electrocardiogram
`force`	force	Force sensor
`gnss`	gnss	GNSS position
`gnss_satellite`	gnss_satellite	GNSS satellite info
`gyro`	vec3 (x, y, z)	Gyroscope
`hall`	valb	Hall effect sensor
`hbeat`	valf	Heartbeat
`hcho`	valf	Formaldehyde concentration
`hrate`	valf	Heart rate
`humi`	valf	Humidity
`impd`	valf2	Impedance
`ir`	valf	Infrared
`light`	valf	Ambient light
`mag`	vec3 (x, y, z)	Magnetometer
`noise`	valf	Noise level
`ots`	vali2	Optical tracking speed
`ph`	valf	pH value
`pm10`	valf	PM10 particulate matter
`pm1p0`	valf	PM1.0 particulate matter
`pm25`	valf	PM2.5 particulate matter
`ppgd`	ppgd	PPG (photoplethysmography) data
`ppgq`	ppgq	PPG quality
`prox`	valf	Proximity
`rgb`	valf3	RGB color sensor
`velocity`	velocity	Velocity sensor
`temp`	valf	Temperature
`tvoc`	valf	Total volatile organic compounds
`uv`	valf	Ultraviolet

Examples

Read accelerometer data at the default 1-second interval:

nsh> sensortest accel
accel: timestamp:1234567890 x:0.12 y:-0.03 z:9.81, temperature:25.50
accel: timestamp:1235567890 x:0.11 y:-0.04 z:9.80, temperature:25.51
^C

Read gyroscope data at 100ms intervals, 10 samples:

nsh> sensortest -i 100000 -n 10 gyro
gyro: timestamp:1234567890 x:0.01 y:0.02 z:0.00, temperature:26.00
...

Read temperature sensor with batching enabled:

nsh> sensortest -b 5000000 temp
temp: timestamp:1234567890 value:25.50
...

Notes

The command reads from /dev/uorb/sensor_<name> using the uORB subscriber interface. Ensure the corresponding sensor driver is enabled and the uORB topic is published.
The command runs continuously until interrupted with Ctrl-C (SIGINT) unless a sample count is specified with -n.
The -b (latency) option controls batching behavior. When set to a non-zero value, the sensor driver may buffer multiple readings and deliver them together, reducing the number of wake-ups.
The timestamp field in the output is provided by the sensor driver and uses the system monotonic clock.

sensortest sensor test tool