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distance_sensor: added msg definition to 'msg' folder

This commit is contained in:
TSC21 2015-05-20 12:40:15 +01:00
parent 796b105382
commit c180b5d825
3 changed files with 50 additions and 26 deletions
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1
CMakeLists.txt
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@ -80,6 +80,7 @@ add_message_files(
vehicle_global_velocity_setpoint.msg
offboard_control_mode.msg
vehicle_force_setpoint.msg
distance_sensor.msg
)
## Generate services in the 'srv' folder

17
msg/distance_sensor.msg Normal file
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@ -0,0 +1,17 @@
# DISTANCE_SENSOR message data
uint32 time_boot_ms
uint16 min_distance
uint16 max_distance
uint16 current_distance
uint8 type
uint8 MAV_DISTANCE_SENSOR_LASER = 0
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
uint8 id
uint8 orientation
uint8 covariance

58
src/modules/uORB/topics/distance_sensor.h
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: @author Nuno Marques <n.marques21@hotmail.com>
* Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -32,38 +31,47 @@
*
****************************************************************************/
/**
* @file distance_sensor.h
* Definition of the distance sensor uORB topic.
*/
/* Auto-generated by genmsg_cpp from file /home/nuno/px4/Firmware/msg/distance_sensor.msg */
#ifndef TOPIC_DISTANCE_SENSOR_H_
#define TOPIC_DISTANCE_SENSOR_H_
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#include <uORB/uORB.h>
#ifndef __cplusplus
#define MAV_DISTANCE_SENSOR_LASER 0
#define MAV_DISTANCE_SENSOR_ULTRASOUND 1
#define MAV_DISTANCE_SENSOR_INFRARED 2
#endif
/**
* @addtogroup topics
* @{
*/
/**
* Distance sensor data, with range in centimeters (not in SI).
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
#ifdef __cplusplus
struct __EXPORT distance_sensor_s {
#else
struct distance_sensor_s {
#endif
uint32_t time_boot_ms;
uint16_t min_distance;
uint16_t max_distance;
uint16_t current_distance;
uint8_t type;
uint8_t id;
uint8_t orientation;
uint8_t covariance;
#ifdef __cplusplus
static const uint8_t MAV_DISTANCE_SENSOR_LASER = 0;
static const uint8_t MAV_DISTANCE_SENSOR_ULTRASOUND = 1;
static const uint8_t MAV_DISTANCE_SENSOR_INFRARED = 2;
uint32_t time_boot_ms; /**< Time since system boot */
uint16_t min_distance; /**< Minimum distance the sensor can measure in centimeters */
uint16_t max_distance; /**< Maximum distance the sensor can measure in centimeters */
uint16_t current_distance; /**< Current distance reading */
uint8_t type; /**< Type from MAV_DISTANCE_SENSOR enum */
uint8_t id; /**< Onboard ID of the sensor */
uint8_t orientation; /**< Direction the sensor faces from MAV_SENSOR_ORIENTATION enum */
uint8_t covariance; /**< Measurement covariance in centimeters, 0 for unknown / invalid readings */
#endif
};
/**
@ -72,5 +80,3 @@ struct distance_sensor_s {
/* register this as object request broker structure */
ORB_DECLARE(distance_sensor);
#endif