diff options
Diffstat (limited to 'src/drivers/drv_range_finder.h')
| -rw-r--r-- | src/drivers/drv_range_finder.h | 20 |
1 files changed, 18 insertions, 2 deletions
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index cf91f7030..0f8362f58 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -46,6 +46,15 @@ #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +enum RANGE_FINDER_TYPE { + RANGE_FINDER_TYPE_LASER = 0, +}; + +/** + * @addtogroup topics + * @{ + */ + /** * range finder report structure. Reads from the device must be in multiples of this * structure. @@ -53,10 +62,17 @@ struct range_finder_report { uint64_t timestamp; uint64_t error_count; - float distance; /** in meters */ - uint8_t valid; /** 1 == within sensor range, 0 = outside sensor range */ + unsigned type; /**< type, following RANGE_FINDER_TYPE enum */ + float distance; /**< in meters */ + float minimum_distance; /**< minimum distance the sensor can measure */ + float maximum_distance; /**< maximum distance the sensor can measure */ + uint8_t valid; /**< 1 == within sensor range, 0 = outside sensor range */ }; +/** + * @} + */ + /* * ObjDev tag for raw range finder data. */ |