28350.Distance.uavcan

#
# Distance
#
# Pitch and yaw angles in radians should be multiplied by
#
# ANGLE_MULTIPLIER = 15 / PI
#
# in order to convert them to a coarse representation, because:
#  - Fits the maximum range of a signed 4 bit or 5 bit integer, respectively
#  - Exactly represents the following angles:
#    0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
#
# Orientation MUST be specified, and there MUST be only one sensor per orientation. 
# This thus serves as a kind of major sensor_id.

float32 ANGLE_MULTIPLIER = 4.7746482927568605

int4 fixed_axis_pitch         # -PI/2 ... +PI/2 or -6 ... 6
int5 fixed_axis_yaw           # -PI ... +PI or -12 ... 12

uint4 sensor_sub_id           # Allow up to 16 sensors per orientation

uint3 RANGE_INVALID     = 0   # Range is unknown
uint3 RANGE_VALID       = 1   # Range field contains valid distance
uint3 RANGE_TOO_CLOSE   = 2   # Range field contains min range for the sensor
uint3 RANGE_TOO_FAR     = 3   # Range field contains max range for the sensor
uint3 range_flag

float16 range                 # Meters

uavcan.olliw.uc4h.DistanceSensorProperties[<=1] sensor_property  # made an array so that it is optional