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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-23 14:32:29 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-23 14:51:49 +0100 |
| commit | 193a210b517c958ebce3aaae8cc9b5709ff9b52b (patch) | |
| tree | 7ebe6243dea120dbb578dfe6da035792f4c48313 /src/drivers/drv_range_finder.h | |
| parent | e10d6bf603e8728061465271957486b727387d1f (diff) | |
| download | px4-firmware-193a210b517c958ebce3aaae8cc9b5709ff9b52b.tar.gz px4-firmware-193a210b517c958ebce3aaae8cc9b5709ff9b52b.tar.bz2 px4-firmware-193a210b517c958ebce3aaae8cc9b5709ff9b52b.zip | |
Multi sonar support by jverbeke
Diffstat (limited to 'src/drivers/drv_range_finder.h')
| -rw-r--r-- | src/drivers/drv_range_finder.h | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index 0f8362f58..12d51aeaa 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -45,6 +45,7 @@ #include "drv_orb_dev.h" #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +#define MB12XX_MAX_RANGEFINDERS 12 //Maximum number of RangeFinders that can be connected enum RANGE_FINDER_TYPE { RANGE_FINDER_TYPE_LASER = 0, @@ -67,6 +68,8 @@ struct range_finder_report { 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 */ + float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */ + uint8_t just_updated; /** number of the most recent measurement sensor */ }; /** |