2015-05-20 08:40:15 -03:00
|
|
|
# DISTANCE_SENSOR message data
|
|
|
|
|
|
2018-08-06 21:30:05 -03:00
|
|
|
uint64 timestamp # time since system start (microseconds)
|
2015-05-20 08:40:15 -03:00
|
|
|
|
2015-05-24 10:28:19 -03:00
|
|
|
float32 min_distance # Minimum distance the sensor can measure (in m)
|
|
|
|
|
float32 max_distance # Maximum distance the sensor can measure (in m)
|
|
|
|
|
float32 current_distance # Current distance reading (in m)
|
2019-02-22 11:41:17 -04:00
|
|
|
float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
|
2018-07-12 16:50:47 -03:00
|
|
|
int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
|
2015-05-20 08:40:15 -03:00
|
|
|
|
2015-05-24 10:28:19 -03:00
|
|
|
uint8 type # Type from MAV_DISTANCE_SENSOR enum
|
2015-05-20 08:40:15 -03:00
|
|
|
uint8 MAV_DISTANCE_SENSOR_LASER = 0
|
|
|
|
|
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
|
|
|
|
|
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
|
2016-12-27 08:34:52 -04:00
|
|
|
uint8 MAV_DISTANCE_SENSOR_RADAR = 3
|
2015-05-20 08:40:15 -03:00
|
|
|
|
2015-05-24 10:28:19 -03:00
|
|
|
uint8 id # Onboard ID of the sensor
|
2015-05-20 08:40:15 -03:00
|
|
|
|
2015-05-22 15:53:52 -03:00
|
|
|
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
|
2017-09-19 08:19:16 -03:00
|
|
|
uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
|
|
|
|
|
uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
|
|
|
|
|
uint8 ROTATION_BACKWARD_FACING = 12 # MAV_SENSOR_ROTATION_PITCH_180
|
|
|
|
|
uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
|
|
|
|
|
uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
|
|
|
|
|
uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
|
2019-06-04 12:49:49 -03:00
|
|
|
uint8 ROTATION_CUSTOM =100 # MAV_SENSOR_ROTATION_CUSTOM
|
|
|
|
|
|
|
|
|
|
float32 h_fov # Sensor horizontal field of view (rad)
|
|
|
|
|
float32 v_fov # Sensor vertical field of view (rad)
|
|
|
|
|
float32[4] q # Quaterion sensor orientation to specify the orientation ROTATION_CUSTOM
|
