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

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ObstacleDistance (UORB message)

Obstacle distances in front of the sensor.

TOPICS: obstacle_distance obstacle_distance_fused

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
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

Name	Type	Value	Description
MAV_FRAME_GLOBAL	uint8	0
MAV_FRAME_LOCAL_NED	uint8	1
MAV_FRAME_BODY_FRD	uint8	12
MAV_DISTANCE_SENSOR_LASER	uint8	0
MAV_DISTANCE_SENSOR_ULTRASOUND	uint8	1
MAV_DISTANCE_SENSOR_INFRARED	uint8	2
MAV_DISTANCE_SENSOR_RADAR	uint8	3

Source Message

Source file (GitHub)

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# 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

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