DistanceSensor (UORB message)

DISTANCE_SENSOR message data

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# 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