Proximity Sensor - DISTANCE_SENSOR Mavlink Message

iamczar · May 5, 2022, 12:05am

I figured it out

WIth copter-4.1 - It only does accept downward facing range finder

ArduPilot/ardupilot/blob/Copter-4.1/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp#L28

      
        
            
            
/*
               Set the distance based on a MAVLINK message
            */
            void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
            {
                mavlink_distance_sensor_t packet;
                mavlink_msg_distance_sensor_decode(&msg, &packet);
            
            
    // only accept distances for downward facing sensors
                if (packet.orientation == MAV_SENSOR_ROTATION_PITCH_270) {
                    state.last_reading_ms = AP_HAL::millis();
                    distance_cm = packet.current_distance;
                    _max_distance_cm = packet.max_distance;
                    _min_distance_cm = packet.min_distance;
                    sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
                }
            }
            
            
int16_t AP_RangeFinder_MAVLink::max_distance_cm() const
            {

With current master

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp#L28

      
        
            
            
/*
               Set the distance based on a MAVLINK message
            */
            void AP_RangeFinder_MAVLink::handle_msg(const mavlink_message_t &msg)
            {
                mavlink_distance_sensor_t packet;
                mavlink_msg_distance_sensor_decode(&msg, &packet);
            
            
    // only accept distances for the configured orentation
                if (packet.orientation == orientation()) {
                    state.last_reading_ms = AP_HAL::millis();
                    distance_cm = packet.current_distance;
                    _max_distance_cm = packet.max_distance;
                    _min_distance_cm = packet.min_distance;
                    sensor_type = (MAV_DISTANCE_SENSOR)packet.type;
                }
            }
            
            
int16_t AP_RangeFinder_MAVLink::max_distance_cm() const
            {