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CollisionPrevention add more distance_sensor orientations

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This commit is contained in:
Daniel Agar
2019-10-01 21:05:37 -04:00
parent 5126e6ea61
commit 0fe271b7f5
3 changed files with 68 additions and 34 deletions
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msg/distance_sensor.msg
+21 -9
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@@ -16,15 +16,27 @@ uint8 MAV_DISTANCE_SENSOR_RADAR = 3
uint8 id # Onboard ID of the sensor
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
uint8 ROTATION_BACKWARD_FACING = 12 # MAV_SENSOR_ROTATION_PITCH_180
uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
uint8 ROTATION_CUSTOM =100 # MAV_SENSOR_ROTATION_CUSTOM
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