2015-05-20 12:40:15 +01:00
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# DISTANCE_SENSOR message data
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2018-08-07 01:30:05 +01:00
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uint64 timestamp # time since system start (microseconds)
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2015-05-20 12:40:15 +01:00
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2015-05-24 14:28:19 +01:00
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float32 min_distance # Minimum distance the sensor can measure (in m)
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float32 max_distance # Maximum distance the sensor can measure (in m)
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float32 current_distance # Current distance reading (in m)
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2019-02-22 18:41:17 +03:00
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float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
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2018-07-12 21:50:47 +02:00
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int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
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2015-05-20 12:40:15 +01:00
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2015-05-24 14:28:19 +01:00
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uint8 type # Type from MAV_DISTANCE_SENSOR enum
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2015-05-20 12:40:15 +01:00
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uint8 MAV_DISTANCE_SENSOR_LASER = 0
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uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
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uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
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2016-12-27 13:34:52 +01:00
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uint8 MAV_DISTANCE_SENSOR_RADAR = 3
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2015-05-20 12:40:15 +01:00
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2015-05-24 14:28:19 +01:00
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uint8 id # Onboard ID of the sensor
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2015-05-20 12:40:15 +01:00
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2015-05-22 19:53:52 +01:00
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uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
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2017-09-19 13:19:16 +02:00
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uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
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uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
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uint8 ROTATION_BACKWARD_FACING = 12 # MAV_SENSOR_ROTATION_PITCH_180
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uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
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uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
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uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
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2019-06-04 17:49:49 +02:00
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uint8 ROTATION_CUSTOM =100 # MAV_SENSOR_ROTATION_CUSTOM
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float32 h_fov # Sensor horizontal field of view (rad)
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float32 v_fov # Sensor vertical field of view (rad)
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2019-07-11 13:20:27 +02:00
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float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM
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