# ObstacleDistance (UORB message)
Obstacle distances in front of the sensor.
# 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 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 values are offsets to the right. # TOPICS obstacle_distance obstacle_distance_fused