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26 lines
724 B
Plaintext
26 lines
724 B
Plaintext
#
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# Generic narrow-beam range sensor data.
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#
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uavcan.Timestamp timestamp
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uint8 sensor_id
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uavcan.equipment.CoarseOrientation beam_orientation # In body frame
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float16 field_of_view # Radians
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uint4 SENSOR_TYPE_UNDEFINED = 0
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uint4 SENSOR_TYPE_SONAR = 1
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uint4 SENSOR_TYPE_LIDAR = 2
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uint4 SENSOR_TYPE_RADAR = 3
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uint4 sensor_type
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uint4 READING_TYPE_UNDEFINED = 0 # Range is unknown
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uint4 READING_TYPE_VALID_RANGE = 1 # Range field contains valid distance
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uint4 READING_TYPE_TOO_CLOSE = 2 # Range field contains min range for the sensor
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uint4 READING_TYPE_TOO_FAR = 3 # Range field contains max range for the sensor
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uint4 reading_type
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float16 range # Meters
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