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34 lines
1.6 KiB
Markdown
34 lines
1.6 KiB
Markdown
# ObstacleDistance (UORB message)
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Obstacle distances in front of the sensor.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg)
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```c
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# Obstacle distances in front of the sensor.
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uint64 timestamp # time since system start (microseconds)
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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.
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uint8 MAV_FRAME_GLOBAL = 0
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uint8 MAV_FRAME_LOCAL_NED = 1
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uint8 MAV_FRAME_BODY_FRD = 12
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uint8 sensor_type # Type from MAV_DISTANCE_SENSOR enum.
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uint8 MAV_DISTANCE_SENSOR_LASER = 0
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uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
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uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
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uint8 MAV_DISTANCE_SENSOR_RADAR = 3
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uint16[72] distances # 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.
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float32 increment # Angular width in degrees of each array element.
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uint16 min_distance # Minimum distance the sensor can measure in centimeters.
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uint16 max_distance # Maximum distance the sensor can measure in centimeters.
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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.
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# TOPICS obstacle_distance obstacle_distance_fused
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```
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