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docs/ko/msg_docs/DistanceSensor.md
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---
pageClass: is-wide-page
---
# DistanceSensor (UORB message)
DISTANCE_SENSOR message data
DISTANCE_SENSOR message data.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
**TOPICS:** distance_sensor
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| <a href="#ROTATION_YAW_0 "></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_YAW_45 "></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
| <a href="#ROTATION_YAW_90 "></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_YAW_135 "></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
| <a href="#ROTATION_YAW_180 "></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_YAW_225 "></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
| <a href="#ROTATION_YAW_270 "></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_YAW_315 "></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
| <a href="#ROTATION_FORWARD_FACING "></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_RIGHT_FACING "></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_BACKWARD_FACING "></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_LEFT_FACING "></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
| <a href="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
| <a href="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
| <a href="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
| <a href="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
| <a href="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
:::details
Click here to see original file
```c
# DISTANCE_SENSOR message data
@@ -52,5 +108,6 @@ uint8 mode
uint8 MODE_UNKNOWN = 0
uint8 MODE_ENABLED = 1
uint8 MODE_DISABLED = 2
```
:::