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 }