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Drivers: Distance Sensors: Add proper device IDs

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Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
This commit is contained in:
JacobCrabill
2020-12-15 18:28:22 -08:00
committed by Daniel Agar
parent adf2d2f73a
commit 85796fbd84
26 changed files with 168 additions and 38 deletions
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4
msg/distance_sensor.msg
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@@ -2,6 +2,8 @@
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
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)
@@ -14,8 +16,6 @@ uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
uint8 MAV_DISTANCE_SENSOR_RADAR = 3
uint8 id # Onboard ID of the sensor
float32 h_fov # Sensor horizontal field of view (rad)
float32 v_fov # Sensor vertical field of view (rad)
float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM