forked from Archive/PX4-Autopilot
35 lines
1.6 KiB
Plaintext
35 lines
1.6 KiB
Plaintext
|
# 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)
|