Distancesensor

DistanceSensor (UORB message)

DISTANCE_SENSOR message data

source 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

```