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Obstacle_distance: use only one increment in float directly

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CollisionPrevention: rename a few variables to make the code more readable
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Martina Rivizzigno 2019-06-05 17:51:06 +02:00 committed by Beat Küng
parent d216b45202
commit 09bfb00c88
3 changed files with 29 additions and 29 deletions
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msg/obstacle_distance.msg
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@ -9,10 +9,9 @@ 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.
uint8 increment # Angular width in degrees of each array element.
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 increment_f # Angular width in degrees of each array element. If greater than 0, it's used instead of increment.
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.