mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
114 lines
11 KiB
Markdown
114 lines
11 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# DistanceSensor (повідомлення UORB)
|
|
|
|
DISTANCE_SENSOR message data.
|
|
|
|
**TOPICS:** distance_sensor
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| 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
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- |
|
|
| <a id="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
|
|
| <a id="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
|
|
| <a id="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
|
|
| <a id="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
|
|
| <a id="#ROTATION_YAW_0"></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
|
|
| <a id="#ROTATION_YAW_45"></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
|
|
| <a id="#ROTATION_YAW_90"></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
|
|
| <a id="#ROTATION_YAW_135"></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
|
|
| <a id="#ROTATION_YAW_180"></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
|
|
| <a id="#ROTATION_YAW_225"></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
|
|
| <a id="#ROTATION_YAW_270"></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
|
|
| <a id="#ROTATION_YAW_315"></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
|
|
| <a id="#ROTATION_FORWARD_FACING"></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
|
|
| <a id="#ROTATION_RIGHT_FACING"></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
|
|
| <a id="#ROTATION_BACKWARD_FACING"></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
|
|
| <a id="#ROTATION_LEFT_FACING"></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
|
|
| <a id="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
|
|
| <a id="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
|
|
| <a id="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
|
|
| <a id="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
|
|
| <a id="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
|
|
| <a id="#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
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
|
|
|
float32 min_distance # Minimum distance the sensor can measure (in m)
|
|
float32 max_distance # Maximum distance the sensor can measure (in m)
|
|
float32 current_distance # Current distance reading (in m)
|
|
float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
|
|
int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
|
|
|
|
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 MAV_DISTANCE_SENSOR_RADAR = 3
|
|
|
|
float32 h_fov # Sensor horizontal field of view (rad)
|
|
float32 v_fov # Sensor vertical field of view (rad)
|
|
float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM
|
|
|
|
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
|
|
|
|
uint8 ROTATION_YAW_0 = 0 # MAV_SENSOR_ROTATION_NONE
|
|
uint8 ROTATION_YAW_45 = 1 # MAV_SENSOR_ROTATION_YAW_45
|
|
uint8 ROTATION_YAW_90 = 2 # MAV_SENSOR_ROTATION_YAW_90
|
|
uint8 ROTATION_YAW_135 = 3 # MAV_SENSOR_ROTATION_YAW_135
|
|
uint8 ROTATION_YAW_180 = 4 # MAV_SENSOR_ROTATION_YAW_180
|
|
uint8 ROTATION_YAW_225 = 5 # MAV_SENSOR_ROTATION_YAW_225
|
|
uint8 ROTATION_YAW_270 = 6 # MAV_SENSOR_ROTATION_YAW_270
|
|
uint8 ROTATION_YAW_315 = 7 # MAV_SENSOR_ROTATION_YAW_315
|
|
|
|
uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
|
|
uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
|
|
uint8 ROTATION_BACKWARD_FACING = 4 # MAV_SENSOR_ROTATION_YAW_180
|
|
uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
|
|
|
|
uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
|
|
uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
|
|
|
|
uint8 ROTATION_CUSTOM = 100 # MAV_SENSOR_ROTATION_CUSTOM
|
|
|
|
uint8 mode
|
|
uint8 MODE_UNKNOWN = 0
|
|
uint8 MODE_ENABLED = 1
|
|
uint8 MODE_DISABLED = 2
|
|
```
|
|
|
|
:::
|