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Collision Prevention: support multiple sensors and frames (#12883)

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* build internal sensor map

* Extend testing coverage

* Update matrix library
This commit is contained in:
Tanja Baumann
2019-09-06 08:38:56 +02:00
committed by Julian Kent
parent eb81f4bce2
commit f3c5ca6015
7 changed files with 795 additions and 163 deletions
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msg/obstacle_distance.msg
+5
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@@ -1,6 +1,11 @@
# Obstacle distances in front of the sensor.
uint64 timestamp # time since system start (microseconds)
uint8 frame #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.
uint8 MAV_FRAME_GLOBAL = 0
uint8 MAV_FRAME_LOCAL_NED = 1
uint8 MAV_FRAME_BODY_FRD = 12
uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum.
uint8 MAV_DISTANCE_SENSOR_LASER = 0
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1