merged upstream/master into sbus2_sensorssbus2_sensors

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.
  */