PX4-Autopilot/docs/en/msg_docs/DistanceSensor.md

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DistanceSensor (UORB message)

DISTANCE_SENSOR message data.

TOPICS: distance_sensor

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
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

Name	Type	Value	Description
MAV_DISTANCE_SENSOR_LASER	uint8	0
MAV_DISTANCE_SENSOR_ULTRASOUND	uint8	1
MAV_DISTANCE_SENSOR_INFRARED	uint8	2
MAV_DISTANCE_SENSOR_RADAR	uint8	3
ROTATION_YAW_0	uint8	0	MAV_SENSOR_ROTATION_NONE
ROTATION_YAW_45	uint8	1	MAV_SENSOR_ROTATION_YAW_45
ROTATION_YAW_90	uint8	2	MAV_SENSOR_ROTATION_YAW_90
ROTATION_YAW_135	uint8	3	MAV_SENSOR_ROTATION_YAW_135
ROTATION_YAW_180	uint8	4	MAV_SENSOR_ROTATION_YAW_180
ROTATION_YAW_225	uint8	5	MAV_SENSOR_ROTATION_YAW_225
ROTATION_YAW_270	uint8	6	MAV_SENSOR_ROTATION_YAW_270
ROTATION_YAW_315	uint8	7	MAV_SENSOR_ROTATION_YAW_315
ROTATION_FORWARD_FACING	uint8	0	MAV_SENSOR_ROTATION_NONE
ROTATION_RIGHT_FACING	uint8	2	MAV_SENSOR_ROTATION_YAW_90
ROTATION_BACKWARD_FACING	uint8	4	MAV_SENSOR_ROTATION_YAW_180
ROTATION_LEFT_FACING	uint8	6	MAV_SENSOR_ROTATION_YAW_270
ROTATION_UPWARD_FACING	uint8	24	MAV_SENSOR_ROTATION_PITCH_90
ROTATION_DOWNWARD_FACING	uint8	25	MAV_SENSOR_ROTATION_PITCH_270
ROTATION_CUSTOM	uint8	100	MAV_SENSOR_ROTATION_CUSTOM
MODE_UNKNOWN	uint8	0
MODE_ENABLED	uint8	1
MODE_DISABLED	uint8	2

Source Message

Source file (GitHub)

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# 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

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