mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
71 lines
7.7 KiB
Markdown
71 lines
7.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# ObstacleDistance (UORB message)
|
|
|
|
Obstacle distances in front of the sensor.
|
|
|
|
**TOPICS:** obstacle_distance obstacle_distance_fused
|
|
|
|
## Fields
|
|
|
|
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|
|
| --------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| frame | `uint8` | | | 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. |
|
|
| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. |
|
|
| distances | `uint16[72]` | | | 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. |
|
|
| increment | `float32` | | | Angular width in degrees of each array element. |
|
|
| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. |
|
|
| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. |
|
|
| angle_offset | `float32` | | | 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. |
|
|
|
|
## Constants
|
|
|
|
| 명칭 | 형식 | Value | 설명 |
|
|
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -- |
|
|
| <a id="#MAV_FRAME_GLOBAL"></a> MAV_FRAME_GLOBAL | `uint8` | 0 | |
|
|
| <a id="#MAV_FRAME_LOCAL_NED"></a> MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
|
|
| <a id="#MAV_FRAME_BODY_FRD"></a> MAV_FRAME_BODY_FRD | `uint8` | 12 | |
|
|
| <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 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# 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
|
|
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
|
|
uint8 MAV_DISTANCE_SENSOR_RADAR = 3
|
|
|
|
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.
|
|
|
|
float32 increment # Angular width in degrees of each array element.
|
|
|
|
uint16 min_distance # Minimum distance the sensor can measure in centimeters.
|
|
uint16 max_distance # Maximum distance the sensor can measure in centimeters.
|
|
|
|
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.
|
|
|
|
# TOPICS obstacle_distance obstacle_distance_fused
|
|
```
|
|
|
|
:::
|