# DISTANCE_SENSOR message data

uint32 time_boot_ms 	# Time since system boot (us)

uint16 min_distance 	# Minimum distance the sensor can measure (cm)
uint16 max_distance		# Maximum distance the sensor can measure (cm)
uint16 current_distance	# Current distance reading (cm)

uint8 type								# Type from MAV_DISTANCE_SENSOR enum
uint8 MAV_DISTANCE_SENSOR_LASER = 0
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2

uint8 id				# Onboard ID of the sensor

uint8 orientation		# Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
uint8 covariance		# Measurement covariance (cm), 0 for unknown / invalid readings