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vehicle_local_position: added bitfield for terrain estimate sensor info

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- indicate how the distance to the bottom is estimated as this is important
to know in the context

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-05-11 17:12:28 +03:00
committed by Lorenz Meier
parent eaa2ae9dc9
commit b1e442b830
1 changed files with 4 additions and 0 deletions
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4
msg/vehicle_local_position.msg
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@@ -52,6 +52,10 @@ float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface # Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres) float32 dist_bottom # Distance from from bottom surface to ground, (metres)
bool dist_bottom_valid # true if distance to bottom surface is valid bool dist_bottom_valid # true if distance to bottom surface is valid
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
float32 eph # Standard deviation of horizontal position error, (metres) float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres) float32 epv # Standard deviation of vertical position error, (metres)