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docs/en/msg_docs/ObstacleDistance.md
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---
pageClass: is-wide-page
---
# ObstacleDistance (UORB message)
Obstacle distances in front of the sensor.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg)
**TOPICS:** obstacle_distance obstacle_distance_fused
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| frame | `uint8` | | | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. |
| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. |
| distances | `uint16[72]` | | | 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. |
| increment | `float32` | | | Angular width in degrees of each array element. |
| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. |
| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. |
| angle_offset | `float32` | | | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a href="#MAV_FRAME_GLOBAL"></a> MAV_FRAME_GLOBAL | `uint8` | 0 |
| <a href="#MAV_FRAME_LOCAL_NED"></a> MAV_FRAME_LOCAL_NED | `uint8` | 1 |
| <a href="#MAV_FRAME_BODY_FRD"></a> MAV_FRAME_BODY_FRD | `uint8` | 12 |
| <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 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg)
::: details Click here to see original file
```c
# Obstacle distances in front of the sensor.
@@ -29,5 +64,6 @@ uint16 max_distance # Maximum distance the sensor can measure in centimeters.
float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
# TOPICS obstacle_distance obstacle_distance_fused
```
:::