ObstacleDistance (UORB message)
Obstacle distances in front of the sensor.
TOPICS: obstacle_distance obstacle_distance_fused
Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| frame | uint8 | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. | ||
| sensor_type | uint8 | Type from MAV_DISTANCE_SENSOR enum. | ||
| distances | uint16[72] | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | ||
| increment | float32 | Angular width in degrees of each array element. | ||
| min_distance | uint16 | Minimum distance the sensor can measure in centimeters. | ||
| max_distance | uint16 | Maximum distance the sensor can measure in centimeters. | ||
| angle_offset | float32 | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. |
Constants
Source Message
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c
# Obstacle distances in front of the sensor.
uint64 timestamp # time since system start (microseconds)
uint8 frame #Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.
uint8 MAV_FRAME_GLOBAL = 0
uint8 MAV_FRAME_LOCAL_NED = 1
uint8 MAV_FRAME_BODY_FRD = 12
uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum.
uint8 MAV_DISTANCE_SENSOR_LASER = 0
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
uint8 MAV_DISTANCE_SENSOR_RADAR = 3
uint16[72] distances # Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
float32 increment # Angular width in degrees of each array element.
uint16 min_distance # Minimum distance the sensor can measure in centimeters.
uint16 max_distance # Maximum distance the sensor can measure in centimeters.
float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
# TOPICS obstacle_distance obstacle_distance_fused