Rangefinder improvement

Development Team
1

Hi,

I got a question about rangefinder message.

Currently we are using : which is specific to APM. But we also accept MAVLINK_MSG_ID_DISTANCE_SENSOR for mavlink rangefinder.

Should we use DISTANCE_SENSOR msg for all in order to get more standard to other mavlink autopilot ?

Moreover, in mavlink rangefinder, we only handle distance mesurement and discard all other parameter : https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp#L56

What do you think ?

2

as discussed in Gitter, I think we should probably change ardupilot to send the common distance-sensor message and drop the ardupilot specific rangefinder message.
Thanks very much for bringing up this issue. If there are other ROS related issues I’m happy to look into them.