PX4 用户指南（V1.13）

# 距离传感器（UORB 消息）

DISTANCE_SENSOR 报文数据

源文件 (打开新窗口）

# DISTANCE_SENSOR 报文数据

uint64 timestamp # 系统运行以来的时间 启动 (微秒)

uint32 device_id # 唯一设备 ID 对于 浮动 32 min_distance # 传感器在两次电源循环之间不发生变化的最小距离。 衡量 (在 m)
float32 max_distance # 传感器可测得的最大距离 衡量 (在 m)
float32 current_distance # 当前距离 阅读 (在 m)
float32 variance # 测量 差异 (在 m^2), 0 对于 未知 / 无效读数 int8 signal_quality # 信号质量单位 百分比 (0...100%), 其中 0 = 无效信号, 100 = 完美信号, 和 -1 = 信号质量未知.

uint8 type # 来自 MAV_DISTANCE_SENSOR 的类型 枚举
uint8 激光测距传感器 = 0
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
uint8 MAV_DISTANCE_SENSOR_RADAR = 3

float32 h_fov # 传感器的水平视场角 观点 (辐射)
float32 v_fov # 传感器的垂直视场 观点 (辐射)
float32[4] q # 传感器相对于车体框架的四分位方向，以指定方向 ROTATION_CUSTOM uint8 orientation # 传感器朝向 MAV_SENSOR_ORIENTATION 的方向 枚举

uint8 旋转_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

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