DistanceSensor (повідомлення UORB)
DISTANCE_SENSOR message data.
TOPICS: distance_sensor
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| device_id | uint32 | unique device ID for the sensor that does not change between power cycles | ||
| min_distance | float32 | Minimum distance the sensor can measure (in m) | ||
| max_distance | float32 | Maximum distance the sensor can measure (in m) | ||
| current_distance | float32 | Current distance reading (in m) | ||
| variance | float32 | Measurement variance (in m^2), 0 for unknown / invalid readings | ||
| signal_quality | int8 | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. | ||
| type | uint8 | Type from MAV_DISTANCE_SENSOR enum | ||
| h_fov | float32 | Sensor horizontal field of view (rad) | ||
| v_fov | float32 | Sensor vertical field of view (rad) | ||
| q | float32[4] | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM | ||
| orientation | uint8 | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | ||
| mode | uint8 |
Constants
Source Message
Details
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c
# DISTANCE_SENSOR message data
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)
float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
uint8 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
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
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
uint8 ROTATION_YAW_0 = 0 # MAV_SENSOR_ROTATION_NONE
uint8 ROTATION_YAW_45 = 1 # MAV_SENSOR_ROTATION_YAW_45
uint8 ROTATION_YAW_90 = 2 # MAV_SENSOR_ROTATION_YAW_90
uint8 ROTATION_YAW_135 = 3 # MAV_SENSOR_ROTATION_YAW_135
uint8 ROTATION_YAW_180 = 4 # MAV_SENSOR_ROTATION_YAW_180
uint8 ROTATION_YAW_225 = 5 # MAV_SENSOR_ROTATION_YAW_225
uint8 ROTATION_YAW_270 = 6 # MAV_SENSOR_ROTATION_YAW_270
uint8 ROTATION_YAW_315 = 7 # MAV_SENSOR_ROTATION_YAW_315
uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
uint8 ROTATION_BACKWARD_FACING = 4 # MAV_SENSOR_ROTATION_YAW_180
uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
uint8 ROTATION_CUSTOM = 100 # MAV_SENSOR_ROTATION_CUSTOM
uint8 mode
uint8 MODE_UNKNOWN = 0
uint8 MODE_ENABLED = 1
uint8 MODE_DISABLED = 2