github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/common/message_obstacle_distance.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll
     3  package common
     4  
     5  // Obstacle distances in front of the sensor, starting from the left in increment degrees to the right
     6  type MessageObstacleDistance struct {
     7  	// Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
     8  	TimeUsec uint64
     9  	// Class id of the distance sensor type.
    10  	SensorType MAV_DISTANCE_SENSOR `mavenum:"uint8"`
    11  	// Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching 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.
    12  	Distances [72]uint16
    13  	// Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
    14  	Increment uint8
    15  	// Minimum distance the sensor can measure.
    16  	MinDistance uint16
    17  	// Maximum distance the sensor can measure.
    18  	MaxDistance uint16
    19  	// Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
    20  	IncrementF float32 `mavext:"true"`
    21  	// 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.
    22  	AngleOffset float32 `mavext:"true"`
    23  	// 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.
    24  	Frame MAV_FRAME `mavenum:"uint8" mavext:"true"`
    25  }
    26  
    27  // GetID implements the message.Message interface.
    28  func (*MessageObstacleDistance) GetID() uint32 {
    29  	return 330
    30  }