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add first draft of the avoidance msg

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ChristophTobler
2018-03-06 09:05:13 +01:00
committed by Daniel Agar
parent e1a7472738
commit 82e0547f6e
2 changed files with 17 additions and 0 deletions
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1
msg/CMakeLists.txt
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@@ -74,6 +74,7 @@ set(msg_files
mission_result.msg
mount_orientation.msg
multirotor_motor_limits.msg
obstacle_avoidance.msg
obstacle_distance.msg
offboard_control_mode.msg
optical_flow.msg

16
msg/obstacle_avoidance.msg Normal file
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@@ -0,0 +1,16 @@
# Output of a external avoidance. Obstacle avoidance message with trajectory points, PCA and FOV. See also Mavlink OBSTACLE_AVOIDANCE msg
uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
float32[11] point_1 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_2 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_3 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_4 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_5 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
bool[5] point_valid # States if respective point is valid
int16[4] field_of_view # Field of View of the sensor/s being used. The first two parameters are used to indicate the direction (Azimuth: 0 - 360 degrees and elevation: -90 - 90 degrees) and the last two indicate the range (Azimuth and elevation). The range is applied symmetrically in the direction. Set first element to -1 to mark as unknown.