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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-23 14:22:52 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-23 14:22:52 +0200 |
| commit | 2998685a3ac593c7b5341f684491e5faef3cc564 (patch) | |
| tree | 6a614a6f7f95e9c17160c3ce837f77c351d667cd /src/drivers/drv_range_finder.h | |
| parent | 8634780e80f728ccbd4bc63860aeaa11727aeedb (diff) | |
| parent | 60554c8a5682bc5b2edb66e1ca6b7a9163b1dbf9 (diff) | |
| download | px4-firmware-2998685a3ac593c7b5341f684491e5faef3cc564.tar.gz px4-firmware-2998685a3ac593c7b5341f684491e5faef3cc564.tar.bz2 px4-firmware-2998685a3ac593c7b5341f684491e5faef3cc564.zip | |
Merge branch 'mpc_local_pos' into mpc_rc
Diffstat (limited to 'src/drivers/drv_range_finder.h')
| -rw-r--r-- | src/drivers/drv_range_finder.h | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h index cf91f7030..e45939b37 100644 --- a/src/drivers/drv_range_finder.h +++ b/src/drivers/drv_range_finder.h @@ -46,6 +46,10 @@ #define RANGE_FINDER_DEVICE_PATH "/dev/range_finder" +enum RANGE_FINDER_TYPE { + RANGE_FINDER_TYPE_LASER = 0, +}; + /** * range finder report structure. Reads from the device must be in multiples of this * structure. @@ -53,8 +57,11 @@ 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 */ }; /* |