From b1e442b8304ed0542c2a219084efa7fe9f43cd47 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 11 May 2020 17:12:28 +0300 Subject: [PATCH] vehicle_local_position: added bitfield for terrain estimate sensor info - indicate how the distance to the bottom is estimated as this is important to know in the context Signed-off-by: RomanBapst --- msg/vehicle_local_position.msg | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg index 259f05fbdb..6f42547e43 100644 --- a/msg/vehicle_local_position.msg +++ b/msg/vehicle_local_position.msg @@ -52,6 +52,10 @@ float32 ref_alt # Reference altitude AMSL, (metres) # Distance to surface float32 dist_bottom # Distance from from bottom surface to ground, (metres) bool dist_bottom_valid # true if distance to bottom surface is valid +uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom +uint8 DIST_BOTTOM_SENSOR_NONE = 0 +uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field +uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) float32 eph # Standard deviation of horizontal position error, (metres) float32 epv # Standard deviation of vertical position error, (metres)